Disturbance Observer based Dynamic Surface Sliding Mode Control for Manipulator Arm with Adaptive RBF Networks

For the rotation position control of automatic loading manipulator arm with uncertain problems of load change and external disturbances, an adaptive radial basis function networks (RBF) dynamic surface sliding mode control (DSMC) strategy based on disturbance observer (DOB) is proposed. The value of...

Full description

Saved in:
Bibliographic Details
Published in:Journal of physics. Conference series 2023-04, Vol.2460 (1), p.12162
Main Authors: Zhou, G Z, Zou, Q, Shao, S C
Format: Article
Language:English
Subjects:
Adaptive control
Automatic control
Control systems design
Controllers
Disturbance observers
Feedforward control
Liapunov functions
Manipulators
Networks
Physics
Radial basis function
Robot arms
Sliding mode control
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:For the rotation position control of automatic loading manipulator arm with uncertain problems of load change and external disturbances, an adaptive radial basis function networks (RBF) dynamic surface sliding mode control (DSMC) strategy based on disturbance observer (DOB) is proposed. The value of the external disturbance, which is estimated by the DOB on line, is added to the output of the proposed controller for feedforward compensation. The dynamic performance of the controller is ensured by introducing the adaptive RBF networks while the stability of the controller is verified by designing the Lyapunov function. Comparison between the results of the proposed control strategy and those of the conventional sliding mode control (SMC) shows that the controller has better dynamic tracking characteristics, steady-state accuracy and strong robustness under load changes.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2460/1/012162