Adaptive sliding mode control with RBF neural network-based tuning method for parallel robot
Author(s)
Date Issued
2022
Publisher
IEEE
ISBN
9781665480253
9781665480260
ISSN
2577-1647
1553-572X
Citation
Zhu, N., Xie, W., & Shen, H. (2022). Adaptive sliding mode control with RBF neural network-based tuning method for parallel robot. In IEEE (Ed.). The proceedings of IECON 2022 – 48th annual conference of the IEEE industrial electronics society. IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society, Brussels, Belgium (pp. 1-6). IEEE.
Type
Conference Paper
Abstract
In this paper, a novel adaptive sliding mode control scheme with RBF (radial basis function) neural network-based tuning method is proposed for the trajectory tracking of a 6-RSS (Revolute-Spherical-Spherical) parallel robot in Cartesian space. Parallel robot is a highly nonlinear system with closed-chain mechanisms, which poses the major challenges to the controller design. The robust sliding mode controller is developed to deal with system uncertainties such as modeling errors, frictions, and disturbances. With strong adaptation and learning ability, RBF neural network is adopted to identify the parallel robot dynamics, and then the adaptive self-tuning of the control gains in the controller is realized, which is more flexible than manual tuning method and can guarantee the desired results of the changing system. The stability of the controller has been validated using Lyapunov theorem. Simulation results demonstrate that the proposed controller can achieve better tracking performance than the sliding mode controller with fixed control gains.
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