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Neural-network-based terminal sliding-mode control of robotic manipulators including actuator Dynamics / Wang, Liangyong in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3296-3304 Titre : Neural-network-based terminal sliding-mode control of robotic manipulators including actuator Dynamics Type de document : texte imprimé Auteurs : Wang, Liangyong, Auteur ; Chai, Tianyou, Auteur ; Zhai, Lianfei, Auteur Article en page(s) : pp. 3296-3304 Langues : Anglais (eng) Mots-clés : Génie  électrique  commande  de  mode  de  glissement  Robot  manipulateur  Déclancheur Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : A neural-network-based terminal sliding-mode control (SMC) scheme is proposed for robotic manipulators including actuator dynamics. The proposed terminal SMC (TSMC) alleviates some main drawbacks (such as contradiction between control efforts in the transient and tracking errors in the steady state) in the linear SMC while maintains its robustness to the uncertainties. Moreover, an indirect method is developed to avoid the singularity problem in the initial TSMC. In the proposed control scheme, a radial basis function neural network (NN) is adopted to approximate the nonlinear dynamics of the robotic manipulator. Meanwhile, a robust control term is added to suppress the modeling error and estimate the error of the NN. Finite time convergence and stability of the closed loop system can be guaranteed by Lyapunov theory. Finally, the proposed control scheme is applied to a robotic manipulator. Experimental results confirm the validity of the proposed control scheme by comparing it with other control strategies. Note de contenu : Génie électrique DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4745802 [...] [article] Neural-network-based terminal sliding-mode control of robotic manipulators including actuator Dynamics [texte imprimé] / Wang, Liangyong, Auteur ; Chai, Tianyou, Auteur ; Zhai, Lianfei, Auteur . - pp. 3296-3304. Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3296-3304 Mots-clés : Génie  électrique  commande  de  mode  de  glissement  Robot  manipulateur  Déclancheur Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : A neural-network-based terminal sliding-mode control (SMC) scheme is proposed for robotic manipulators including actuator dynamics. The proposed terminal SMC (TSMC) alleviates some main drawbacks (such as contradiction between control efforts in the transient and tracking errors in the steady state) in the linear SMC while maintains its robustness to the uncertainties. Moreover, an indirect method is developed to avoid the singularity problem in the initial TSMC. In the proposed control scheme, a radial basis function neural network (NN) is adopted to approximate the nonlinear dynamics of the robotic manipulator. Meanwhile, a robust control term is added to suppress the modeling error and estimate the error of the NN. Finite time convergence and stability of the closed loop system can be guaranteed by Lyapunov theory. Finally, the proposed control scheme is applied to a robotic manipulator. Experimental results confirm the validity of the proposed control scheme by comparing it with other control strategies. Note de contenu : Génie électrique DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4745802 [...]