Neuro-adaptive sliding-mode tracking control of robot manipulators

2007 ◽  
Vol 21 (8-9) ◽  
pp. 674-691 ◽  
Author(s):  
Andon V. Topalov ◽  
Okyay Kaynak ◽  
Gokhan Aydin
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Adaptive Sliding Mode ◽  
Mode Tracking

Flatness-based adaptive sliding mode tracking control for a quadrotor with disturbances

2018 ◽  
Vol 355 (14) ◽  
pp. 6300-6322 ◽  
Author(s):  
Dailiang Ma ◽  
Yuanqing Xia ◽  
Ganghui Shen ◽  
Zhiqiang Jia ◽  
Tianya Li
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode ◽  
Mode Tracking

scholarly journals Adaptive Sliding Mode Tracking Control for Unmanned Autonomous Helicopters Based on Neural Networks

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Min Wan ◽  
Mou Chen ◽  
Kun Yan
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Adaptive Sliding Mode ◽  
Control Scheme ◽  
Model Control ◽  
Autonomous Helicopters ◽  
Unknown Disturbances ◽  
Autonomous Helicopter ◽  
Mode Tracking

In this paper, an adaptive sliding mode tracking control scheme is developed for the medium-scale unmanned autonomous helicopter with system uncertainties and external unknown disturbances. A simplified mathematical model is established, which is divided into position subsystem and attitude subsystem. The uncertainty term of the system is handled by the inherent approximation ability of the neural network. The sliding model control scheme under the backstepping frame is developed for tackling disturbances. The stability of the simplified system is proved by using the Lyapunov theory, and the tracking errors are guaranteed to be uniformly bounded. Numerical simulation results show that the proposed control strategy is effective.

Model Following Adaptive Sliding Mode Tracking Control Based on a Disturbance Observer for the Mechanical Systems

2017 ◽  
Vol 140 (5) ◽  
Author(s):  
Kun-Yung Chen
Keyword(s):  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Time Varying ◽  
Adaptive Sliding Mode ◽  
Model Following ◽  
Control Gain ◽  
Mode Tracking

A model following adaptive sliding mode tracking control (MFASMTC) with the adjustable control gain based on a disturbance observer (DOB) for the mechanical system is proposed in this paper. The control gains of the proposed controller are automatically adjusted to compensate the unknown time-varying disturbances by the DOB. First, the unknown variables and uncertainties are lumped as the disturbance terms and the system dynamic model consist of the nominal matrix and disturbances vector. The desired model and sliding mode controller (SMC) are integrated by using the Lyapunov function candidate to obtain the general model following sliding mode tracking control (MFSMTC) with the fixed control gain. To stabilize and compensate the unknown time-varying disturbances for the control system, a DOB is combined with the MFSMTC to obtain the MFASMTC to automatically adjust the control gains. The mass-spring-damper system and two-link manipulator robot system are both used as examples system to demonstrate the proposed control scheme, respectively. The comparisons between MFSMTC with the fixed control gain and MFASMTC with the adjustable control gain based on a DOB are performed in this paper. From the simulation results, the proposed MFASMTC with the adjustable control gain based on a DOB demonstrates the stable and robust control performance for the unknown uncertainties and external disturbances. The proposed control method also can be applied to the other mechanical systems with the desired model to find the desired model following adaptive sliding mode tracking control.

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