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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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Main Authors:	Esmaili, P., Haron, H.
Format:	Conference or Workshop Item
Published:	2015
Subjects:	QA75 Electronic computers. Computer science
Online Access:	http://eprints.utm.my/id/eprint/59128/ http://dx.doi.org/10.1109/I4CT.2015.7219632
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id	my.utm.59128
record_format	eprints
spelling	my.utm.591282021-12-15T08:34:12Z http://eprints.utm.my/id/eprint/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
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	QA75 Electronic computers. Computer science
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
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.
format	Conference or Workshop Item
author	Esmaili, P. Haron, H.
author_facet	Esmaili, P. Haron, H.
author_sort	Esmaili, P.
title	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_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_sort	adaptive synchronous artificial neural network based pi-type sliding mode control on two robot manipulators
publishDate	2015
url	http://eprints.utm.my/id/eprint/59128/ http://dx.doi.org/10.1109/I4CT.2015.7219632
_version_	1720436898785132544
score	13.211869

Adaptive synchronous artificial neural network based PI-type sliding mode control on two robot manipulators

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