Radial-basis-functions neural network sliding mode control for underactuated manipulators

Sonia Mahjoub, Faical Mnif, Nabil Derbel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper presents a neural network (NN) sliding mode control (NNSMC) and indirect adaptive technique Neural Network sliding mode control (IANSMC) for underactuated robotmanipulators. The adaptive NN based on Radial Basis Functions (RBF) is used as an estimators to approximate uncertainties of the problem formulation. Adaptive learning algorithms in NNSMC are derived from the Lyapunov stability analysis. Sliding mode control and indirect adaptive technique (IANSMC) are combined to deal with modeling parameter uncertainties and bounded disturbances. The stability of the mixed controller is then proved. A radial basis function Neural Network is used to estimate system parameters and to compensate the uncertainties in the design of the sliding mode control. Neural network parameters are tuned on-line, with no off-line learning phase required. Discussions and comparisons between proposed controllers are presented. Simulation results show that the NNSM and IANSMC are betters than the traditional SMC to control underactuated manipulators.

Original languageEnglish
Title of host publication2013 10th International Multi-Conference on Systems, Signals and Devices, SSD 2013
DOIs
Publication statusPublished - 2013
Event2013 10th International Multi-Conference on Systems, Signals and Devices, SSD 2013 - Hammamet, Tunisia
Duration: Mar 18 2013Mar 21 2013

Other

Other2013 10th International Multi-Conference on Systems, Signals and Devices, SSD 2013
CountryTunisia
CityHammamet
Period3/18/133/21/13

Keywords

  • Indirect adaptive
  • Lyapunov stability
  • Neural Networks
  • Sliding mode control
  • Underactuated manipulator

ASJC Scopus subject areas

  • Signal Processing

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    Mahjoub, S., Mnif, F., & Derbel, N. (2013). Radial-basis-functions neural network sliding mode control for underactuated manipulators. In 2013 10th International Multi-Conference on Systems, Signals and Devices, SSD 2013 [6564106] https://doi.org/10.1109/SSD.2013.6564106