NEURO-TERMINAL SLIDING CONTROL IN ARM MOVEMENT USING ONLINE ROUTING ALGORITHM

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KHALIGHFARD MAHDIE; POOYAN MOHAMMAD; ERFANIAN OMIDVAR ABBAS

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Journal: COMPUTATIONAL INTELLIGENCE IN ELECTRICAL ENGINEERING (INTELLIGENT SYSTEMS IN ELECTRICAL ENGINEERING) Year:2016 | Volume:6 | Issue:4 Page(s): 35-48

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Title

NEURO-TERMINAL SLIDING CONTROL IN ARM MOVEMENT USING ONLINE ROUTING ALGORITHM

Author(s)

KHALIGHFARD MAHDIE | POOYAN MOHAMMAD | ERFANIAN OMIDVAR ABBAS | Issue Writer Certificate

Keywords

ONLINE ROUTING ALGORITHMQ2

RECURRENT NEURAL NETWORKQ2

TERMINAL SLIDING CONTROLQ2

THREE RIGID HUMAN ARM MODELQ2

Abstract

To control 3-DOF model of human arm movement in page and to reach robust control in external disturbance, unmodeled dynamics and uncertainties of model with time-varying properties, continues terminal sliding mode control as an adaptive-robust control was used. This controller have exponential convergence to zero tracing error, but chattering phenomenon in sliding control isn’t decrease desirable. In this paper, to decrease chattering, we coupled a RECURRENT NEURAL NETWORK by a single hidden layer into the TERMINAL SLIDING CONTROL (TSM). Moreover, because of systematic redundancy in the model of arm, don’t exist unique joint trajectories to considering as a default, so to reach online desired trajectories in reaching, ONLINE ROUTING ALGORITHM was used with Neuro-TSM control. For testing the robustness in control, we applied disturbance signals of torque. The results have shown,Neuro-TSM along with ONLINE ROUTING ALGORITHM, in addition to reducing chattering, could track joint trajectories and end effector path with very low errors.

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APA: Copy

KHALIGHFARD, MAHDIE, POOYAN, MOHAMMAD, & ERFANIAN OMIDVAR, ABBAS. (2016). NEURO-TERMINAL SLIDING CONTROL IN ARM MOVEMENT USING ONLINE ROUTING ALGORITHM. COMPUTATIONAL INTELLIGENCE IN ELECTRICAL ENGINEERING (INTELLIGENT SYSTEMS IN ELECTRICAL ENGINEERING), 6(4), 35-48. SID. https://sid.ir/paper/202954/en

Vancouver: Copy

KHALIGHFARD MAHDIE, POOYAN MOHAMMAD, ERFANIAN OMIDVAR ABBAS. NEURO-TERMINAL SLIDING CONTROL IN ARM MOVEMENT USING ONLINE ROUTING ALGORITHM. COMPUTATIONAL INTELLIGENCE IN ELECTRICAL ENGINEERING (INTELLIGENT SYSTEMS IN ELECTRICAL ENGINEERING)[Internet]. 2016;6(4):35-48. Available from: https://sid.ir/paper/202954/en

IEEE: Copy

MAHDIE KHALIGHFARD, MOHAMMAD POOYAN, and ABBAS ERFANIAN OMIDVAR, “NEURO-TERMINAL SLIDING CONTROL IN ARM MOVEMENT USING ONLINE ROUTING ALGORITHM,” COMPUTATIONAL INTELLIGENCE IN ELECTRICAL ENGINEERING (INTELLIGENT SYSTEMS IN ELECTRICAL ENGINEERING), vol. 6, no. 4, pp. 35–48, 2016, [Online]. Available: https://sid.ir/paper/202954/en

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