Controlador en Modo Deslizante Neuronal Adaptable en Tiempo Discreto para un Robot Tipo SCARA (Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm)

Francisco G. Rossomando (frosoma@inaut.unsj.edu.ar)1, Carlos M. Soria (csoria@inaut.unsj.edu.ar)1


1Instituto de Automática - (UNSJ-Conicet)

This paper appears in: Revista IEEE América Latina

Publication Date: June 2016
Volume: 14,   Issue: 6 
ISSN: 1548-0992


Abstract:
This work presents a neuro-adaptive control method in sliding mode control designed in discrete time for SCARA robot arm. The proposed control structure is based on neuro-adaptive sliding mode control to adjust dynamics variations of the SCARA robot. The sliding control is included to ensure that the discrete-time neural control can improve the stable closed loop system to be immune to the parameters variations. The proposed technique simultaneously ensures the stability of the adaptation of neural networks and can obtain adequate control when the robot's parameters are inexactly or unknown. This adaptive neural system was applied on a SCARA type robot arm where the trajectory tracking error converges to zero. Finally, experiments have been developed on SCARA robot arm to demonstrate the efficiency of the proposed technique, including comparison with a classical controller.

Index Terms:
Sliding Mode Control, MIMO system, Adaptive control, Neural Networks   


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