Thai Nguyen - Academia.edu (original) (raw)

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FARZIN  PILTAN

IRAN SSP

Jinya Su

Thang Nguyen

Puren Ouyang

Kostas Kyriakopoulos

Kostas J Kyriakopoulos

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https://scholar.google.com.au/citations?user=-ZOFK by Thai Nguyen

Research paper thumbnail of Adaptive neural network based backstepping sliding mode control approach for dual arm robots

Journal of Control, Automation and Electrical Systems , 2019

The paper introduces an adaptive strategy to effectively control a nonlinear dual arm robot under... more The paper introduces an adaptive strategy to effectively control a nonlinear dual arm robot under external disturbances and uncertainties. By the use of the backstepping sliding mode control (BSSMC) method, the proposed algorithm first allows the manipulators to be able to robustly track the desired trajectories. Furthermore , due to the nonlinear, uncertain and unmod-elled dynamics of the dual arm robot, it is proposed to employ the radial basis function network (RBFN) to adaptively estimate the robot's dynamic model. Though the estimation of the dynamics is approximate, the adaptation law is derived from the Lyapunov theory, which provides the controller with ability to guarantee stability of the whole system in spite of its nonlinearities, parameter uncertainties and external load variations. The effectiveness of the proposed RBFN-BSSMC approach is demonstrated by implementation in a simulation environment with realistic parameters, where the obtained results are highly promising.

Research paper thumbnail of Adaptive neural network based backstepping sliding mode control approach for dual arm robots

Journal of Control, Automation and Electrical Systems , 2019

The paper introduces an adaptive strategy to effectively control a nonlinear dual arm robot under... more The paper introduces an adaptive strategy to effectively control a nonlinear dual arm robot under external disturbances and uncertainties. By the use of the backstepping sliding mode control (BSSMC) method, the proposed algorithm first allows the manipulators to be able to robustly track the desired trajectories. Furthermore , due to the nonlinear, uncertain and unmod-elled dynamics of the dual arm robot, it is proposed to employ the radial basis function network (RBFN) to adaptively estimate the robot's dynamic model. Though the estimation of the dynamics is approximate, the adaptation law is derived from the Lyapunov theory, which provides the controller with ability to guarantee stability of the whole system in spite of its nonlinearities, parameter uncertainties and external load variations. The effectiveness of the proposed RBFN-BSSMC approach is demonstrated by implementation in a simulation environment with realistic parameters, where the obtained results are highly promising.

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