0% Complete
صفحه اصلی
/
سی و سومین کنفرانس بین المللی مهندسی برق
A Novel RBFNN-Based Triple Terminal Sliding Mode Control for robotic manipulators
نویسندگان :
Mahdi Armoon
1
Marzie Lafouti
2
Babak Tavassoli
3
Hamid D.Taghirad
4
1- دانشگاه صنعتی خواجه نصیرالدین طوسی
2- دانشگاه صنعتی خواجه نصیرالدین طوسی
3- دانشگاه صنعتی خواجه نصیرالدین طوسی
4- دانشگاه صنعتی خواجه نصیرالدین طوسی
کلمات کلیدی :
Triple terminal sliding mode control،Radial basis function neural network،Robotic manipulators،Finite time control،Lyapunov approach
چکیده :
This paper introduces a novel RBFNN-based triple terminal sliding mode control method which has been implemented on robotic system. Radial basis function neural networks (RBFNNs) and a triple terminal sliding mode controller are designed for the 3-DOF manipulator since an adaptive robust position control is used to track the robots' manipulator . In this research, friction, errors in modeling and external disturbances are considered as uncertainties. The RBFNN approximates the nonlinearity of the robot dynamics according to adaptive laws including unknown parameters estimation which leads to ensuring the asymptotic stability of the closed-loop system. Lyapunov's theorem of stability is used to determine the parameters of the controller and an online adaptive learning algorithm is utilized in order to adjust them. Thus, the stability, robustness and appropriate tracking performance for this robotic system are guaranteed. The simulations performed on a three-link robot show high accuracy of tracking, reduction of chattering phenomenon and fast .response in a finite-time despite approximate errors and uncertainties
لیست مقالات
لیست مقالات بایگانی شده
Output feedback tube-based MPC for an LPV system using inexact scheduling variables
Nima Naeiji - Ali Akbar Afzalian - Arash Sadeghzadeh
A Time-Distributed Convolutional Long Short-Term Memory for Hand Gesture Recognition
Mehdi Fatan Serj - Mersad Asgari - Bahram Lavi - Domenec Puig Valls - Miguel Angel Garcia
A Novel Application of the Travel Profile for the Electrical Bus in Electric Systems for Transportation
Mohsen Tamaddon - Mohsen Davoodi
Deep Convolutional Neural Network for ADHD Classification using resting-state fMRI
MohammadHadi Firouzi - Maliheh Ahmadi - Kamran Kazemi - Mohammad Sadegh Helfroush - Ardalan Aarabi
تعیین آرایش بهینه خطوط جهت کاهش فرسایش یقه پایه های بتنی ناشی از تنشهای باد
میثم پوراحمدی نخلی - حمیدرضا فیروزآبادی
یادگیری متری عمیق جهت شناسایی افراد
امیرعلی نسیمی - مهران صفایانی - مائده احمدی - عبدالرضا میرزائی
Comparison of Channel Selection Methods for EEG Signal Classification
Soraya Charkas - MohammadBagher Shamsollahi
Analysis of the DC Bias Effects on the Transformer Vibration Using a Multi-field Coupling Model
Amir Esmaeili Nezhad - Mohammad Hamed Samimi
Design of a Retinal Prosthesis Circuit With In-pixel Edge Detection Capability
Zahra Bonesbordi - Sayed Masoud Sayedi
Classification of automotive radar targets using Gray Level Co-occurrence Matrix
Amin AghatabarRoodbary - MohammadHassan Bastani - Fereidoon Behnia
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.3.2