Adaptive synchronous artificial neural network based PI-type sliding mode control on two robot manipulators
An adaptive synchronous proportional-integral (PI)-type sliding mode control is developed for two cooperative robot manipulators handling a lightweight beam. This approach is under implicit communication between robots in which each robot manipulator does not need to have any information about the o...
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| Format: | Conference or Workshop Item |
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2015
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| _version_ | 1796860649535438848 |
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| author | Esmaili, P. Haron, H. |
| author_facet | Esmaili, P. Haron, H. |
| author_sort | Esmaili, P. |
| collection | ePrints |
| description | An adaptive synchronous proportional-integral (PI)-type sliding mode control is developed for two cooperative robot manipulators handling a lightweight beam. This approach is under implicit communication between robots in which each robot manipulator does not need to have any information about the other. A class of sliding mode control which is insensitive and robust in the presence of the uncertainties and external disturbances with no chattering is applied. In the sliding mode control investigating PI sliding surface guarantee the asymptotic stability in compare with the classic sliding mode control. A feed forward neural network is applied to compensate dynamic model uncertainty. The adaptive synchronization method is presented to solve the parameter uncertainty in the trajectory of each robot manipulator with respect to the reference to handle the object accurately and smoothly in the desired trajectory. The stability analysis of the proposed scheme is guaranteed by Lyapunov method. In the simulation results, the convergence of trajectory tracking error and synchronization error to zero is reveal the performance of proposed scheme. |
| first_indexed | 2024-03-05T19:44:28Z |
| format | Conference or Workshop Item |
| id | utm.eprints-59128 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T19:44:28Z |
| publishDate | 2015 |
| record_format | dspace |
| spelling | utm.eprints-591282021-12-15T08:34:12Z http://eprints.utm.my/59128/ Adaptive synchronous artificial neural network based PI-type sliding mode control on two robot manipulators Esmaili, P. Haron, H. QA75 Electronic computers. Computer science An adaptive synchronous proportional-integral (PI)-type sliding mode control is developed for two cooperative robot manipulators handling a lightweight beam. This approach is under implicit communication between robots in which each robot manipulator does not need to have any information about the other. A class of sliding mode control which is insensitive and robust in the presence of the uncertainties and external disturbances with no chattering is applied. In the sliding mode control investigating PI sliding surface guarantee the asymptotic stability in compare with the classic sliding mode control. A feed forward neural network is applied to compensate dynamic model uncertainty. The adaptive synchronization method is presented to solve the parameter uncertainty in the trajectory of each robot manipulator with respect to the reference to handle the object accurately and smoothly in the desired trajectory. The stability analysis of the proposed scheme is guaranteed by Lyapunov method. In the simulation results, the convergence of trajectory tracking error and synchronization error to zero is reveal the performance of proposed scheme. 2015 Conference or Workshop Item PeerReviewed Esmaili, P. and Haron, H. (2015) Adaptive synchronous artificial neural network based PI-type sliding mode control on two robot manipulators. In: 2nd International Conference on Computer, Communications, and Control Technology, I4CT 2015, 21 - 23 April 2015, Kuching, Sarawak. http://dx.doi.org/10.1109/I4CT.2015.7219632 |
| spellingShingle | QA75 Electronic computers. Computer science Esmaili, P. Haron, H. Adaptive synchronous artificial neural network based PI-type sliding mode control on two robot manipulators |
| title | Adaptive synchronous artificial neural network based PI-type sliding mode control on two robot manipulators |
| title_full | Adaptive synchronous artificial neural network based PI-type sliding mode control on two robot manipulators |
| title_fullStr | Adaptive synchronous artificial neural network based PI-type sliding mode control on two robot manipulators |
| title_full_unstemmed | Adaptive synchronous artificial neural network based PI-type sliding mode control on two robot manipulators |
| title_short | Adaptive synchronous artificial neural network based PI-type sliding mode control on two robot manipulators |
| title_sort | adaptive synchronous artificial neural network based pi type sliding mode control on two robot manipulators |
| topic | QA75 Electronic computers. Computer science |
| work_keys_str_mv | AT esmailip adaptivesynchronousartificialneuralnetworkbasedpitypeslidingmodecontrolontworobotmanipulators AT haronh adaptivesynchronousartificialneuralnetworkbasedpitypeslidingmodecontrolontworobotmanipulators |