NDLI: Improving trajectory tracking of a three axis SCARA robot using neural networks

Content Provider	IEEE Xplore Digital Library
Author	Raafat, S.M. Said, W.K. Akmeliawati, R. Tariq, N.M.
Copyright Year	2009
Description	Author affiliation: Control and System, Dept. University of Technology Baghdad, Iraq (Said, W.K.; Tariq, N.M.) \|\| Mechatronics Eng., Dept. International Islamic University Malaysia (IIUM), Kuala Lumpur, Malaysia (Raafat, S.M.; Akmeliawati, R.)
Abstract	In this paper, a neural-network based robust adaptive controller is proposed to control an industrial robot considering non- linearities, uncertainties and external perturbations. Three-axis SCARA robots is used to test the performance of this controller. The nonlinear system is treated as a partially known system. The known dynamic is used to design a nominal feedback controller based on the well-known feedback linearization method and PD controller. A Variable Structure Controller is added to the PD loop to provide robustness to uncertainties in the model of the system in order to improve accuracy of the trajectory tracking. A Neural Network (NN) based robust adaptive tracking controller is applied to further improves the control action. The outputs of the NNs are used to compensate the effects of the system uncertainties and to improve the tracking performance. Using this scheme, strong robustness with respect to uncertain dynamics and nonlinearities can be obtained, the output tracking error between the plant output and the desired reference output can asymptotically converge to zero as well. This controller exhibited superior performance characteristics where the maximum absolute error for the three-axis SCARA robot is considerably reduced.
Starting Page	283
Ending Page	288
File Size	452216
Page Count	6
File Format	PDF
ISBN	9781424446810
DOI	10.1109/ISIEA.2009.5356448
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-04
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty SCARA robot Robot control Nonlinear dynamical systems Adaptive control Robust control Programmable control Neural Network Robust adaptive tracking controller Service robots Neural networks Electrical equipment industry Trajectory Feedback linearization Uncertainties
Content Type	Text
Resource Type	Article

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