Adaptive sliding mode force/position control for fault tolerance robot manipulators based on neural network

	Adaptive sliding mode force/position control for fault tolerance robot manipulators based on neural network
	Li, Erchao1,2 ; Li, Zhanming1,2 ; Li, Wei 1,2
	2013
发表期刊	Energy Education Science and Technology Part A: Energy Science and Research
ISSN	1308772X
卷号	31 期号:4 页码:2603-2608
摘要	A compound fault tolerance control strategy is presented. While an actuator failed, it has to be locked and then robot system's dynamic model becomes a structure uncertain system. A RBF neural network is used to adaptively learn the unknown bounds of the system uncertainties, and the output of the neural network estimator is used to adjust the switching gain. Locking the joint directly may reduce the robot's workplace so that some operation missions will not be completed, a variable structure controller is presented to drive the failed joints. The failed joints will get angles needed in practice by the dynamic coupling effect between the actuated joint and the failed joint before it is locked. The control strategy presented above can not only complete the scheduled missions but also keep a highly tracking accuracy. © Sila Science. All Rights Reserved.
关键词	Fault tolerance Locks (fasteners) Robot applications Robots Sliding mode control Adaptive sliding mode Control strategies Fault tolerance control Force/position control Neural network estimators RBF Neural Network System uncertainties Variable structure controller
收录类别	EI
语种	英语
出版者	Sila Science, University Mah Mekan Sok, No 24, Trabzon, Turkey
EI入藏号	20140917381202
EI主题词	Neural networks
EI分类号	601.3 Mechanisms - 722.4 Digital Computers and Systems - 723.4 Artificial Intelligence - 731.1 Control Systems - 731.6 Robot Applications
来源库	Compendex
分类代码	601.3 Mechanisms - 722.4 Digital Computers and Systems - 723.4 Artificial Intelligence - 731.1 Control Systems - 731.6 Robot Applications
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/113257
专题	电气工程与信息工程学院
作者单位	1.Lanzhou University of Technology, College of Electrical and Information Engineering, Lanzhou 730050, China; 2.Lanzhou University of Technology, Key Laboratory of Gansu Advanced Control for Industrial Processes, Lanzhou 730050, China
第一作者单位	兰州理工大学
第一作者的第一单位	兰州理工大学
推荐引用方式 GB/T 7714	Li, Erchao,Li, Zhanming,Li, Wei. Adaptive sliding mode force/position control for fault tolerance robot manipulators based on neural network[J]. Energy Education Science and Technology Part A: Energy Science and Research,2013,31(4):2603-2608.
APA	Li, Erchao,Li, Zhanming,&Li, Wei.(2013).Adaptive sliding mode force/position control for fault tolerance robot manipulators based on neural network.Energy Education Science and Technology Part A: Energy Science and Research,31(4),2603-2608.
MLA	Li, Erchao,et al."Adaptive sliding mode force/position control for fault tolerance robot manipulators based on neural network".Energy Education Science and Technology Part A: Energy Science and Research 31.4(2013):2603-2608.