Intelligent control of a single-link flexible manipulator using sliding modes and artificial neural networks
| Autor: | Wallace Moreira Bessa, Gabriel da Silva Lima, Diego Rolim Porto, Adilson José de Oliveira |
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| Rok vydání: | 2022 |
| Předmět: |
FOS: Computer and information sciences
Artificial neural network Computer science Control engineering Systems and Control (eess.SY) Electrical Engineering and Systems Science - Systems and Control TK1-9971 Computer Science - Robotics Optimization and Control (math.OC) FOS: Electrical engineering electronic engineering information engineering FOS: Mathematics Electrical engineering. Electronics. Nuclear engineering Electrical and Electronic Engineering Manipulator Link (knot theory) Intelligent control Mathematics - Optimization and Control Robotics (cs.RO) |
| Zdroj: | Electronics Letters, Vol 57, Iss 23, Pp 869-872 (2021) |
| DOI: | 10.48550/arxiv.2203.10771 |
| Popis: | This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded artificial neural network to deal with modeling inaccuracies. The adopted neural network only needs a single input and one hidden layer, which drastically reduces the computational complexity of the control law and allows its implementation in low-power microcontrollers. Online learning, rather than supervised offline training, is chosen to allow the weights of the neural network to be adjusted in real time during the tracking. Therefore, the resulting controller is able to cope with the underactuating issues and to adapt itself by learning from experience, which grants the capacity to deal with plant dynamics properly. The boundedness and convergence properties of the tracking error are proved by evoking Barbalat's lemma in a Lyapunov-like stability analysis. Experimental results obtained with a small single-link flexible manipulator show the efficacy of the proposed control scheme, even in the presence of a high level of uncertainty and noisy signals. Comment: 4 pages, 5 figures |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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