Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach

2009 ◽  
Vol 39 (3) ◽  
pp. 788-799 ◽  
Author(s):  
Dong Xu ◽  
Dongbin Zhao ◽  
Jianqiang Yi ◽  
Xiangmin Tan
Keyword(s):  
Neural Network ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Mobile Manipulators ◽  
Trajectory Tracking Control ◽  
Wheeled Mobile Manipulators

A New Neural Network Based Sliding Mode Adaptive Controller for Tracking Control of Robot Manipulator

2021 ◽  
Vol 11 (2) ◽  
pp. 12-16
Author(s):  
Monisha Pathak ◽  
◽  
Mrinal Buragohain ◽  
Keyword(s):  
Neural Network ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Rbf Neural Network ◽  
Adaptive Controller ◽  
Robotic Manipulator ◽  
Trajectory Tracking Control ◽  
Chattering Effect

In this paper a New RBF Neural Network based Sliding Mode Adaptive Controller (NNNSMAC) for Robot Manipulator trajectory tracking in the presence of uncertainties and disturbances is introduced. The research offers a learning with minimal parameter (LMP) technique for robotic manipulator trajectory tracking. The technique decreases the online adaptive parameters number in the RBF Neural Network to only one, lowering computational costs and boosting real-time performance. The RBFNN analyses the system's hidden non-linearities, and its weight value parameters are updated online using adaptive laws to control the nonlinear system's output to track a specific trajectory. The RBF model is used to create a Lyapunov function-based adaptive control law. The effectiveness of the designed NNNSMAC is demonstrated by simulation results of trajectory tracking control of a 2 dof Robotic Manipulator. The chattering effect has been significantly reduced.

Trajectory tracking control of robot manipulator based on RBF neural network and fuzzy sliding mode

2017 ◽  
Vol 22 (S3) ◽  
pp. 5799-5809 ◽  
Author(s):  
Fei Wang ◽  
Zhi-qiang Chao ◽  
Lian-bing Huang ◽  
Hua-ying Li ◽  
Chuan-qing Zhang
Keyword(s):  
Neural Network ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Rbf Neural Network ◽  
Trajectory Tracking Control ◽  
Fuzzy Sliding Mode
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