CFP last date
20 May 2024
Call for Paper
June Edition
IJCA solicits high quality original research papers for the upcoming June edition of the journal. The last date of research paper submission is 20 May 2024

Submit your paper
Know more
The week's pick
Responsive image
Enhancing Privacy Preservation: Multi-Attribute Protection with P-Sensitive K-Anonymity

Twinkle Patel Kiran Amin
Random Articles
Reseach Article

Sliding Mode Control with RBF Neural Network for Two Link Robot Manipulator

by Ankita Yadav, Ajit Kumar Sharma, Bharat Bhushan
journal cover thumbnail

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 178 - Number 52
Year of Publication: 2019
Authors: Ankita Yadav, Ajit Kumar Sharma, Bharat Bhushan
10.5120/ijca2019919408

Ankita Yadav, Ajit Kumar Sharma, Bharat Bhushan . Sliding Mode Control with RBF Neural Network for Two Link Robot Manipulator. International Journal of Computer Applications. 178, 52 ( Sep 2019), 31-36. DOI=10.5120/ijca2019919408

@article{ 10.5120/ijca2019919408,
author = { Ankita Yadav, Ajit Kumar Sharma, Bharat Bhushan },
title = { Sliding Mode Control with RBF Neural Network for Two Link Robot Manipulator },
journal = { International Journal of Computer Applications },
issue_date = { Sep 2019 },
volume = { 178 },
number = { 52 },
month = { Sep },
year = { 2019 },
issn = { 0975-8887 },
pages = { 31-36 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume178/number52/30908-2019919408/ },
doi = { 10.5120/ijca2019919408 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-07T00:53:50.380403+05:30
%A Ankita Yadav
%A Ajit Kumar Sharma
%A Bharat Bhushan
%T Sliding Mode Control with RBF Neural Network for Two Link Robot Manipulator
%J International Journal of Computer Applications
%@ 0975-8887
%V 178
%N 52
%P 31-36
%D 2019
%I Foundation of Computer Science (FCS), NY, USA
Abstract

Nonlinear control techniques are applied on mechanical systems namely two link robot manipulator to study the effect of the controllers on the tracking performance of the two system. A design of sliding mode control(SMC) for the position tracking of two link robot manipulator based on the sliding mode control technique and the Lyapunov stability theory is carried out to eliminate the perturbation and asymptotical stability can be achieved when the system is subjected to the sliding mode. A sliding mode control method based on RBF(radial basis function) neural network is addressed which has the capability of learning uncertain control actions shown by the several industrial robots. In RBFNN-SMC method the algorithm for tuning the parameters are extracted from the RBF function. The comparative study is done based on the evaluated parameters for the system

References
  1. K.M.Koo, J.H.Kim: Robust Control of Robot Manipulators with Parameters Uncertainty, IEEE Trans.Auto.Contr., Vol.39, No.6, 1230-1233,1994
  2. Utkin V.I., “Variable structure systems with sliding modes”, IEEE Transactions on Automatic Control, vol. 22, no. 2, pp. 212-22, 1977.
  3. V. I. Utkin, Sliding Modes and Their Application in Variable Structure Systems. Moscow: MIR, 1978.
  4. Slotine J. and Sastry S., “Tracking control of nonlinear system using sliding surfaces with application to robot manipulators”, International Journal of Control, vol. 38, pp.465–492, 1983.
  5. J.J.E.Slotine, W. Li: On the Adaptive Control of Robot Manipu -lators,The Int. J. Robotics Reseach,Vol.6,No.3, 49-59, 1987
  6. Slotine J.E. and Li W.P., “On the adaptive control of robot manipula-tors”, Interational Journal of Robotics Research, vol. 6, no. 3, pp.49–59, 1987
  7. J.J.E.Slotine, W. Li: Adaptive Manipulators Control: A Case Study, IEEE Trans. Auto. Contr.,Vol.33,No.11,995 -1003, 1988
  8. R. A. DeCarlo, S. H. Zak, and G. P. Matthews, “Variable Structure Control of Nonlinear Multivariate Systems: A Tutorial,” Proceedings of the IEEE, Vol. 76, No. 3, pp. 212-232, March 1988.
  9. Astrom K.J. and Wittenmark B., “Adaptive Control”, 2nd edn. Addison-Wesley, NY 1994,1989.
  10. V. I. Utkin and S. Drakunov, “On Discrete-time Sliding Mode Control,” Proceedings of IFAC Symposium on Nonlinear Control Systems (NOLCOS), (Capri, Italy), pp. 484-489, 1989.
  11. Hartman EJ, Keeler JD, Kowalski JM. Layered neural networks with Gaussian hidden units as universal approximations. Neural computation, 1990, 2(2): 210 _ 215
  12. Kanellakopoulos I, Kokotovic PV, Morse AS (1991) Systematic design of adaptive controllersfor feedback linearizable systems. IEEE Trans Autom Control 36(11):1241–1253
  13. Park J, Sandberg IW. Universal approximation using radial-basis-function networks. Neural computation, 1991,3: 246 _ 257
  14. Narendra KS (1991) Adaptive control using neural networks. In: Neural networks for control.MIT Press, Cambridge, MA, pp 115–142
Index Terms

Computer Science
Information Sciences

Keywords

Sliding mode control RBF Neural Network Two-link robot manipulator.

Powered by PhDFocusTM