Parallel Network-Based Sliding Mode Tracking Control for Robotic Manipulators with Uncertain Dynamics
Robot dynamics model uncertainty and unpredictable external perturbations are important factors that influence control accuracy and stability. To accurately compensate for the dynamics model in sliding mode control (SMC), a new parallel network (PCR) is proposed in this paper. The network paralleliz...
| Main Authors: | , , , , , , |
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| Format: | Article |
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MDPI AG
2023-04-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/12/5/187 |
| _version_ | 1797818851315941376 |
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| author | Honggang Wu Xinming Zhang Linsen Song Yufei Zhang Chen Wang Xiaonan Zhao Lidong Gu |
| author_facet | Honggang Wu Xinming Zhang Linsen Song Yufei Zhang Chen Wang Xiaonan Zhao Lidong Gu |
| author_sort | Honggang Wu |
| collection | DOAJ |
| description | Robot dynamics model uncertainty and unpredictable external perturbations are important factors that influence control accuracy and stability. To accurately compensate for the dynamics model in sliding mode control (SMC), a new parallel network (PCR) is proposed in this paper. The network parallelizes the radial basis function and convolutional neural network, which gives it the advantage of making full use of one-dimensional data fitting results and two-dimensional data feature information, realizing the deep learning of multidimensional data and improving the model’s compensation accuracy and anti-interference ability. Meanwhile, based on the integration of adaptive control techniques and gradient descent, a new weight update algorithm is designed to realize the online learning of PCR networks under loss-free functions. Then, a new sliding mode controller (PCR-SMC) is established. The model-free intelligent control of the robot is accomplished without knowledge of the predetermined upper bounds. Additionally, the stability analysis of the control system is proved by the Lyapunov theorem. Lastly, robot tracking control simulations are performed on two trajectories. The results demonstrate the high-precision tracking performance of this controller in comparison with the RBF-SMC controller. |
| first_indexed | 2024-03-13T09:14:13Z |
| format | Article |
| id | doaj.art-7894fad17ee54a82a56a134c2988379c |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-13T09:14:13Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-7894fad17ee54a82a56a134c2988379c2023-05-26T13:20:22ZengMDPI AGActuators2076-08252023-04-011218718710.3390/act12050187Parallel Network-Based Sliding Mode Tracking Control for Robotic Manipulators with Uncertain DynamicsHonggang Wu0Xinming Zhang1Linsen Song2Yufei Zhang3Chen Wang4Xiaonan Zhao5Lidong Gu6School of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Computer Science and Technology, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Computer Science and Technology, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaRobot dynamics model uncertainty and unpredictable external perturbations are important factors that influence control accuracy and stability. To accurately compensate for the dynamics model in sliding mode control (SMC), a new parallel network (PCR) is proposed in this paper. The network parallelizes the radial basis function and convolutional neural network, which gives it the advantage of making full use of one-dimensional data fitting results and two-dimensional data feature information, realizing the deep learning of multidimensional data and improving the model’s compensation accuracy and anti-interference ability. Meanwhile, based on the integration of adaptive control techniques and gradient descent, a new weight update algorithm is designed to realize the online learning of PCR networks under loss-free functions. Then, a new sliding mode controller (PCR-SMC) is established. The model-free intelligent control of the robot is accomplished without knowledge of the predetermined upper bounds. Additionally, the stability analysis of the control system is proved by the Lyapunov theorem. Lastly, robot tracking control simulations are performed on two trajectories. The results demonstrate the high-precision tracking performance of this controller in comparison with the RBF-SMC controller.https://www.mdpi.com/2076-0825/12/5/187parallel networkPCR-SMC controlleruncertainty compensationtrajectory tracking |
| spellingShingle | Honggang Wu Xinming Zhang Linsen Song Yufei Zhang Chen Wang Xiaonan Zhao Lidong Gu Parallel Network-Based Sliding Mode Tracking Control for Robotic Manipulators with Uncertain Dynamics Actuators parallel network PCR-SMC controller uncertainty compensation trajectory tracking |
| title | Parallel Network-Based Sliding Mode Tracking Control for Robotic Manipulators with Uncertain Dynamics |
| title_full | Parallel Network-Based Sliding Mode Tracking Control for Robotic Manipulators with Uncertain Dynamics |
| title_fullStr | Parallel Network-Based Sliding Mode Tracking Control for Robotic Manipulators with Uncertain Dynamics |
| title_full_unstemmed | Parallel Network-Based Sliding Mode Tracking Control for Robotic Manipulators with Uncertain Dynamics |
| title_short | Parallel Network-Based Sliding Mode Tracking Control for Robotic Manipulators with Uncertain Dynamics |
| title_sort | parallel network based sliding mode tracking control for robotic manipulators with uncertain dynamics |
| topic | parallel network PCR-SMC controller uncertainty compensation trajectory tracking |
| url | https://www.mdpi.com/2076-0825/12/5/187 |
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