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BELBIC-Sliding Mode Control of Robotic Manipulators with Uncertainties and Switching Constraints
Klecker, Sophie; Plapper, Peter
2016In Proceedings of the ASME 2016 International Mechanical Engineering Congress and Exposition
Peer reviewed
 

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Keywords :
adaptive control; intelligent control; biomimetics; sliding mode control; robotic manipulator; industrial robot; constrained motion; switching constraints; uncertainties
Abstract :
[en] This paper addresses the control problem for trajectory tracking of a class of robotic manipulators presenting uncertainties and switching constraints using a biomimetic approach. Uncertainties, system-inherent as well as environmental disturbances deteriorate the performance of the system. A change in constraints between the robot’s end-effector and the environment resulting in a switched nonlinear system, undermines the stable system performance. In this work, a robust adaptive controller combining sliding mode control and BELBIC (Brain Emotional Learning-Based Intelligent Control) is suggested to remediate the expected impacts on the overall system tracking performance and stability. The controller is based on an interplay of inputs relating to environmental information through error-signals of position and sliding surfaces and of emotional signals regulating the learning rate and adapting the future behaviour based on prior experiences. The proposed control algorithm is designed to be applicable to discontinuous freeform geometries. Its stability is proven theoretically and a simulation, performed on a two-link manipulator verifies its efficacy.
Disciplines :
Mechanical engineering
Author, co-author :
Klecker, Sophie ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
Plapper, Peter ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
External co-authors :
no
Language :
English
Title :
BELBIC-Sliding Mode Control of Robotic Manipulators with Uncertainties and Switching Constraints
Publication date :
November 2016
Event name :
ASME 2016 International Mechanical Engineering Congress and Exposition IMECE 2016
Event organizer :
ASME
Event place :
Phoenix, United States
Event date :
from 11-11-2016 to 17-11-2016
Audience :
International
Main work title :
Proceedings of the ASME 2016 International Mechanical Engineering Congress and Exposition
Peer reviewed :
Peer reviewed
Name of the research project :
R-AGR-0071 - IRP13 - PROBE (20130101-20151231) - PLAPPER Peter
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since 02 February 2017

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