Neural Dynamics Variations Observer Designed for Robot Manipulator Control Using a Novel Saturated Control Technique
Joint Authors
Soria, Carlos
Rossomando, Francisco
Scaglia, Gustavo
Serrano, Emanuel
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-05-21
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
This work presents a novel controller for the dynamics of robots using a dynamic variations observer.
The proposed controller uses a saturated control law based on sintg−1.
function instead of tanh..
Besides, this function is an alternative to the use of tanh.
in saturation control, since it reaches its maximum value more gradually than the hyperbolic tangent function.
Using this characteristic, the transition between states is smoother, with similar accuracy to tanh..
The controller is designed using a saturated SMC (sliding mode controller) and a dynamic variations observer based on GRNN (general regression neural network).
The originality of this work is the use of a combination of adaptive GRNN with a sliding mode controller (SMC) including a new saturation function.
Finally, experiments based on trajectory tracking demonstrate the robustness and simplicity of this method.
American Psychological Association (APA)
Rossomando, Francisco& Serrano, Emanuel& Soria, Carlos& Scaglia, Gustavo. 2020. Neural Dynamics Variations Observer Designed for Robot Manipulator Control Using a Novel Saturated Control Technique. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1194320
Modern Language Association (MLA)
Rossomando, Francisco…[et al.]. Neural Dynamics Variations Observer Designed for Robot Manipulator Control Using a Novel Saturated Control Technique. Mathematical Problems in Engineering No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1194320
American Medical Association (AMA)
Rossomando, Francisco& Serrano, Emanuel& Soria, Carlos& Scaglia, Gustavo. Neural Dynamics Variations Observer Designed for Robot Manipulator Control Using a Novel Saturated Control Technique. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1194320
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1194320