Trajectory tracking of the robot manipulator with time-varying parameters

Yuxuan Cao; Boyun Liu; Yuan Fang; Jinyun Pu

doi:10.1117/12.2626424

21 December 2021 Trajectory tracking of the robot manipulator with time-varying parameters

Yuxuan Cao, Boyun Liu, Yuan Fang, Jinyun Pu

Proceedings Volume 12156, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2021); 1215604 (2021) https://doi.org/10.1117/12.2626424
Event: International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2021), 2021, Sanya, China

Abstract

Trajectory Tracking is a hot topic in robot manipulators control. The robot manipulator is a classical nonlinear and multibody system. Control of such a system is difficult to acquire the pleasant result. This paper explores an efficient control for a 2-DOF robot manipulator using modified sliding mode control to overcome the nonlinearity and time-varying parameters. The novel control scheme integrates the conventional sliding mode control with Zeroing Neural Network to accelerate the convergence time and suppress the chattering. The simulation experiments are conducted to show the superiority and validity of the proposed method. The results demonstrate the proposed method presents the higher accuracy than classical sliding mode control with chattering suppress as well.

Citation Download Citation

Yuxuan Cao, Boyun Liu, Yuan Fang, and Jinyun Pu "Trajectory tracking of the robot manipulator with time-varying parameters", Proc. SPIE 12156, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2021), 1215604 (21 December 2021); https://doi.org/10.1117/12.2626424

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