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International Conference on Intelligent Computing

ICIC 2019: Intelligent Computing Methodologies pp 167–178Cite as

Continuous PID Sliding Mode Control Based on Neural Third Order Sliding Mode Observer for Robotic Manipulators

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11645))

Abstract

This paper proposes a continuous PID sliding mode control strategy based on a neural third-order sliding mode observer for robotic manipulators by using only position measurement. A neural third-order sliding mode observer based on radial basis function neural network is first proposed to estimate both the velocities and the dynamic uncertainties and faults. In this observer, the radial basis function neural networks are used to estimate the parameters of the observer, therefore, the requirement of prior knowledge of the dynamic uncertainties and faults is eliminated. The obtained velocities and lumped uncertainties and fault information are then employed to design the continuous PID sliding mode controller based on the super-twisting algorithm. Consequently, this controller provides finite-time convergence, high accuracy, chattering reduction, and robustness against the dynamic uncertainties and faults without the need of velocity measurement and the prior knowledge of the lumped dynamic uncertainties and faults. The global stability and finite-time convergence of the controller are guaranteed in theory by using Lyapunov function. The effectiveness of the proposed method is verified by computer simulation for a PUMA560 robot.

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Acknowledgement

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF2016R1D1A3B03930496).

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Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, Ulsan, 44610, South Korea

    Van-Cuong Nguyen & Anh-Tuan Vo

  2. School of Electrical Engineering, University of Ulsan, Ulsan, 44610, South Korea

    Hee-Jun Kang

Authors
  1. Van-Cuong Nguyen
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  2. Anh-Tuan Vo
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  3. Hee-Jun Kang
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Corresponding author

Correspondence to Hee-Jun Kang .

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Editors and Affiliations

  1. Tongji University, Shanghai, China

    De-Shuang Huang

  2. Nanchang Institute of Technology, Nanchang, China

    Zhi-Kai Huang

  3. Liverpool John Moores University, Liverpool, UK

    Abir Hussain

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Nguyen, VC., Vo, AT., Kang, HJ. (2019). Continuous PID Sliding Mode Control Based on Neural Third Order Sliding Mode Observer for Robotic Manipulators. In: Huang, DS., Huang, ZK., Hussain, A. (eds) Intelligent Computing Methodologies. ICIC 2019. Lecture Notes in Computer Science(), vol 11645. Springer, Cham. https://doi.org/10.1007/978-3-030-26766-7_16

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  • DOI: https://doi.org/10.1007/978-3-030-26766-7_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-26765-0

  • Online ISBN: 978-3-030-26766-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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