Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm

Autores
Rossomando, Francisco Guido; Soria, Carlos Miguel
Año de publicación
2016
Idioma
español castellano
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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 robots 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.
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
Adaptive Control
Mimo System
Neural Networks
Sliding Mode Control
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/61202
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/61202
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot armRossomando, Francisco GuidoSoria, Carlos MiguelAdaptive ControlMimo SystemNeural NetworksSliding Mode Controlhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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 robots 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.Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaInstitute of Electrical and Electronics Engineers2016-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/61202Rossomando, Francisco Guido; Soria, Carlos Miguel; Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 14; 6; 6-2016; 2556-25641548-0992CONICET DigitalCONICETspainfo:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/7555218info:eu-repo/semantics/altIdentifier/doi/10.1109/TLA.2016.7555218info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:32:58Zoai:ri.conicet.gov.ar:11336/61202instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:32:58.676CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm
title Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm
spellingShingle Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm
Rossomando, Francisco Guido
Adaptive Control
Mimo System
Neural Networks
Sliding Mode Control
title_short Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm
title_full Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm
title_fullStr Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm
title_full_unstemmed Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm
title_sort Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm
dc.creator.none.fl_str_mv Rossomando, Francisco Guido
Soria, Carlos Miguel
author Rossomando, Francisco Guido
author_facet Rossomando, Francisco Guido
Soria, Carlos Miguel
author_role author
author2 Soria, Carlos Miguel
author2_role author
dc.subject.none.fl_str_mv Adaptive Control
Mimo System
Neural Networks
Sliding Mode Control
topic Adaptive Control
Mimo System
Neural Networks
Sliding Mode Control
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv 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 robots 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.
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description 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 robots 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.
publishDate 2016
dc.date.none.fl_str_mv 2016-06
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/61202
Rossomando, Francisco Guido; Soria, Carlos Miguel; Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 14; 6; 6-2016; 2556-2564
1548-0992
CONICET Digital
CONICET
url http://hdl.handle.net/11336/61202
identifier_str_mv Rossomando, Francisco Guido; Soria, Carlos Miguel; Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 14; 6; 6-2016; 2556-2564
1548-0992
CONICET Digital
CONICET
dc.language.none.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/7555218
info:eu-repo/semantics/altIdentifier/doi/10.1109/TLA.2016.7555218
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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