Reference : BELBIC-Sliding Mode Control of Robotic Manipulators with Uncertainties and Switching ...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/10993/29564
BELBIC-Sliding Mode Control of Robotic Manipulators with Uncertainties and Switching Constraints
English
Klecker, Sophie mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Plapper, Peter mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Nov-2016
Proceedings of the ASME 2016 International Mechanical Engineering Congress and Exposition
Yes
International
ASME 2016 International Mechanical Engineering Congress and Exposition IMECE 2016
from 11-11-2016 to 17-11-2016
ASME
Phoenix
USA
[en] adaptive control ; intelligent control ; biomimetics ; sliding mode control ; robotic manipulator ; industrial robot ; constrained motion ; switching constraints ; uncertainties
[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.
R-AGR-0071 > PROBE > 01/01/2013 - 31/12/2015 > PLAPPER Peter
http://hdl.handle.net/10993/29564

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