NDLI: Multi-model back-stepping sliding mode control of Robotic Manipulators

Content Provider	IEEE Xplore Digital Library
Author	Yinling Jiang Di Yu Hai Xing Wang
Copyright Year	2014
Description	Author affiliation: Northeast Pet. Univ., Daqing, China (Yinling Jiang; Di Yu; Hai Xing Wang)
Abstract	This paper describes a multiple models controller for robotic manipulators based on combination of SM control and adaptive backstepping control approaches. The robot system working environment is changeful and the robot system operates in multiple environments which may change abruptly from one to another. Therefore, a good way to improve the performance of the controller is to use multiple models control if models are approximately available for different environments. We design a PID performance index with weighting factors and forgetting factors, which make the performance index more real-time. This backstepping controller applied to Robot Manipulator, differs from standard backstepping in that the virtual control inputs are designed based on estimates of the previous virtual control inputs. This eliminates the need to take derivatives of the system dynamics, which simplifies the control law. The design methodology is based on the Lyapunov stability. The simulation results demonstrate the effectiveness and feasibility of the proposed control strategy. PID-type switching index function, which increased forgetting factor making the witching more accurate and reasonable. The simulation results demonstrate the effectiveness and feasibility of the proposed control strategy.
Starting Page	524
Ending Page	529
File Size	256742
Page Count	6
File Format	PDF
ISBN	9781479937073
e-ISBN	9781479937080
DOI	10.1109/CCDC.2014.6852204
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Back-stepping Backstepping Neural networks Sliding mode(SM) Switches Multi-model Manipulator dynamics Robotic Manipulators
Content Type	Text
Resource Type	Article

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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