|Adaptive Neural Network Second-order Sliding Mode Control of Dual Arm Robots
Le Anh Tuan, Young Hoon Joo*, Le Quoc Tien, and Pham Xuan Duong
International Journal of Control, Automation, and Systems, vol. 15, no. 6, pp.2883-2891, 2017
Abstract : "An adaptive robust control system is considered for dual-arm manipulators (DAM) using the combination
of second-order sliding mode control (SOSMC) and neural networks. The SOSMC deals with the system robustness
when faced with external disturbances and parametric uncertainties. Meanwhile, the radial basis function network
(RBFN) is to constitute an adaptation mechanism for approximating the unknown dynamic model of DAM. The
stability of model estimator-integrated controller is analyzed using Lyapuov theory. To show the effectiveness of
proposed controller, a four DOFs-DAM is applied as an illustrating example. The results reveal that the controller
works well, excellently adapt to no information of robot modeling."
Dual-arm manipulator, modelling estimation, neural network, robust adaptive control.