Neural network sliding mode robot control

This paper develops a method for neural network control design with sliding modes in which robustness is inherent. Neural network control is formulated to become a class of variable structure (VSS) control. Sliding modes are used to determine best values for parameters in neural network learning rules, thereby robustness in learning control can be improved. A switching manifold is prescribed and the phase trajectory is demanded to satisfy both, the reaching condition and the sliding condition for sliding modes.

[1]  J. J. Slotine,et al.  Tracking control of non-linear systems using sliding surfaces with application to robot manipulators , 1983, 1983 American Control Conference.

[2]  Karel Jezernik,et al.  Trajectory tracking neural network controller for a robot mechanism and Lyapunov theory of stability , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[3]  D. Grant Fisher,et al.  Continuous sliding mode control , 1992 .

[4]  Toshio Fukuda,et al.  Research Trends in Neuromorphic Control , 1990, J. Robotics Mechatronics.

[5]  K. Jezernik.  Robust chattering free sliding mode control of servo drives , 1995, Proceedings of 1995 International Conference on Power Electronics and Drive Systems. PEDS 95.

[6]  Alan S. Morris,et al.  Neuro-adaptive control of robotic manipulators , 1993, Robotica.

[7]  K. Jezernik,et al.  Neural network based chattering free sliding mode control , 1995, SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers.

[8]  Yoshiki Uchikawa,et al.  Trajectory control of robotic manipulators using neural networks , 1991 .

[9]  U. Itkis,et al.  Control systems of variable structure , 1976 .

[10]  Karel Jezernik,et al.  VSC robust control of an IM servodrive , 1994, Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics.

[11]  B. Draenovi.  The invariance conditions in variable structure systems , 1969 .

[12]  G. M. Asher,et al.  Parallel Processing for Vector Control of Induction Motors: Implementation and Review , 1993 .

[13]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[14]  Karel Jezernik,et al.  Observer-based sliding mode control of a robotic manipulator , 1994, Robotica.

[15]  Karel Jezernik,et al.  Transputer based trajectory tracking neural network controller for a robot mechanism , 1994, Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics.

[16]  Kurt Hornik,et al.  Multilayer feedforward networks are universal approximators , 1989, Neural Networks.

[17]  Karel Jezernik,et al.  Chattering-free sliding modes in robotic manipulators control , 1996, Robotica.