Neural PD control with second-order sliding mode compensation for robot manipulators

Debbie Hernandez; Wen Yu; Marco A. Moreno-Armendariz

doi:10.1109/IJCNN.2011.6033529

Neural PD control with second-order sliding mode compensation for robot manipulators

Debbie Hernandez, Wen Yu, Marco A. Moreno-Armendariz

Centro de Investigación en Computación (CIC)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

Both neural network and sliding mode technique can compensate the steady-state error of proportional-derivative (PD) control. The tracking error of PD control with sliding mode is asymptotically stable, but the chattering is big. PD control with neural networks is smooth, but it is not asymptotically stable. PD control combining both neural networks and sliding mode cannot reduce chattering, because the sliding mode control (SMC) is always applied. In this paper, neural control and SMC are connected serially: first a dead-zone neural PD control assures that the tracking error is bounded, then super-twisting second-order sliding-mode is used to guarantee finite time convergence of the sliding mode PD control.

Original language	English
Title of host publication	2011 International Joint Conference on Neural Networks, IJCNN 2011 - Final Program
Pages	2395-2402
Number of pages	8
DOIs	https://doi.org/10.1109/IJCNN.2011.6033529
State	Published - 2011
Event	2011 International Joint Conference on Neural Network, IJCNN 2011 - San Jose, CA, United States Duration: 31 Jul 2011 → 5 Aug 2011

Publication series

Name	Proceedings of the International Joint Conference on Neural Networks

Conference

Conference	2011 International Joint Conference on Neural Network, IJCNN 2011
Country/Territory	United States
City	San Jose, CA
Period	31/07/11 → 5/08/11

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10.1109/IJCNN.2011.6033529

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Hernandez, D., Yu, W., & Moreno-Armendariz, M. A. (2011). Neural PD control with second-order sliding mode compensation for robot manipulators. In 2011 International Joint Conference on Neural Networks, IJCNN 2011 - Final Program (pp. 2395-2402). Article 6033529 (Proceedings of the International Joint Conference on Neural Networks). https://doi.org/10.1109/IJCNN.2011.6033529

@inproceedings{f9bde82e3d4d4608a9356dec70d019ea,

title = "Neural PD control with second-order sliding mode compensation for robot manipulators",

abstract = "Both neural network and sliding mode technique can compensate the steady-state error of proportional-derivative (PD) control. The tracking error of PD control with sliding mode is asymptotically stable, but the chattering is big. PD control with neural networks is smooth, but it is not asymptotically stable. PD control combining both neural networks and sliding mode cannot reduce chattering, because the sliding mode control (SMC) is always applied. In this paper, neural control and SMC are connected serially: first a dead-zone neural PD control assures that the tracking error is bounded, then super-twisting second-order sliding-mode is used to guarantee finite time convergence of the sliding mode PD control.",

author = "Debbie Hernandez and Wen Yu and Moreno-Armendariz, {Marco A.}",

year = "2011",

doi = "10.1109/IJCNN.2011.6033529",

language = "Ingl{\'e}s",

isbn = "9781457710865",

series = "Proceedings of the International Joint Conference on Neural Networks",

pages = "2395--2402",

booktitle = "2011 International Joint Conference on Neural Networks, IJCNN 2011 - Final Program",

note = "2011 International Joint Conference on Neural Network, IJCNN 2011 ; Conference date: 31-07-2011 Through 05-08-2011",

}

Hernandez, D, Yu, W & Moreno-Armendariz, MA 2011, Neural PD control with second-order sliding mode compensation for robot manipulators. in 2011 International Joint Conference on Neural Networks, IJCNN 2011 - Final Program., 6033529, Proceedings of the International Joint Conference on Neural Networks, pp. 2395-2402, 2011 International Joint Conference on Neural Network, IJCNN 2011, San Jose, CA, United States, 31/07/11. https://doi.org/10.1109/IJCNN.2011.6033529

Neural PD control with second-order sliding mode compensation for robot manipulators. / Hernandez, Debbie; Yu, Wen; Moreno-Armendariz, Marco A.
2011 International Joint Conference on Neural Networks, IJCNN 2011 - Final Program. 2011. p. 2395-2402 6033529 (Proceedings of the International Joint Conference on Neural Networks).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Hernandez, Debbie

AU - Yu, Wen

AU - Moreno-Armendariz, Marco A.

PY - 2011

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N2 - Both neural network and sliding mode technique can compensate the steady-state error of proportional-derivative (PD) control. The tracking error of PD control with sliding mode is asymptotically stable, but the chattering is big. PD control with neural networks is smooth, but it is not asymptotically stable. PD control combining both neural networks and sliding mode cannot reduce chattering, because the sliding mode control (SMC) is always applied. In this paper, neural control and SMC are connected serially: first a dead-zone neural PD control assures that the tracking error is bounded, then super-twisting second-order sliding-mode is used to guarantee finite time convergence of the sliding mode PD control.

AB - Both neural network and sliding mode technique can compensate the steady-state error of proportional-derivative (PD) control. The tracking error of PD control with sliding mode is asymptotically stable, but the chattering is big. PD control with neural networks is smooth, but it is not asymptotically stable. PD control combining both neural networks and sliding mode cannot reduce chattering, because the sliding mode control (SMC) is always applied. In this paper, neural control and SMC are connected serially: first a dead-zone neural PD control assures that the tracking error is bounded, then super-twisting second-order sliding-mode is used to guarantee finite time convergence of the sliding mode PD control.

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DO - 10.1109/IJCNN.2011.6033529

M3 - Contribución a la conferencia

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SN - 9781457710865

T3 - Proceedings of the International Joint Conference on Neural Networks

SP - 2395

EP - 2402

BT - 2011 International Joint Conference on Neural Networks, IJCNN 2011 - Final Program

T2 - 2011 International Joint Conference on Neural Network, IJCNN 2011

Y2 - 31 July 2011 through 5 August 2011

ER -

Neural PD control with second-order sliding mode compensation for robot manipulators

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