Skip to main content
SpringerLink
Log in

Decentralized neural network control for guaranteed tracking error constraint of a robot manipulator

  • Regular Papers
  • Robotics and Automation
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

In this paper, a new constrained error variable similar to sliding mode surface (SMC) is proposed to ensure a prescribed position tracking performance of a robot manipulator. A decentralized controller using this constrained error variable and a radial basis function network (RBF) is designed. The proposed decentralized and constrained control system ensures a prescribed transient and steady-state time positioning performance of the decentralized manipulator components without violation of the prescribed performance. The effectiveness of the proposed decentralized and robust control scheme was determined by comparing the results of simulated and experimental evaluation with the conventional SMC and finite-time terminal SMC methods.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. R. M. DeSantis, “Motion/force control of roboticmanipulators,” Trans. ASME, vol. 118, pp. 386–389, 1996.

    MATH  Google Scholar 

  2. Z. P. Wang, S. S. Ge, and T. H. Lee, “Robustmotion/force control of uncertain holonomic/nonholonomic mechanical systems,” IEEE/ASMCTrans. Mehca, vol. 9, no. 1, pp. 118–123, 2004.

    Google Scholar 

  3. A. Ilchman and H. Schuster, “Tracking control withprescribed transient behavior degree,” Sys. & Contr.Letters, vol. 55, pp. 396–406, 2006.

    Article  Google Scholar 

  4. C. P. Benchlioulis and G. A. Rovithakis, “Robustadaptive control of feedback linearizable MIMOnonlinear systems with prescribed performance,” IEEE Trans. on Automatic Control, vol. 53, no. 9, pp. 2090–2099. 2008.

    Article  Google Scholar 

  5. K. P. Tee, S. S. Ge, and E. H. Tay, “Barrier Lyapunovfunctions for the output-constrained nonlinearsystems,” Automatica, vol. 45, no. 4, pp. 918–927, 2009.

    Article  MathSciNet  MATH  Google Scholar 

  6. Y. Yang, M. Tomizuka, G. Guerreo, and G. Montemayor, “Decentralized robust control of mechanicalsystems,” IEEE Trans. on Automatic Control, vol. 45, no. 4, pp. 771–776, 2000.

    Article  Google Scholar 

  7. C. Lin, A. B. Rad, and W. L. Chan, “An intelligentlongitudinal controller for application insemiautonomous vehicles,” IEEE Trans. Ind.Electron., vol. 57, no. 4, pp. 1487–1497, April 2010.

    Article  Google Scholar 

  8. R. J. Lian, “Adaptive self-organizing fuzzy slidingmoderadial basis-function neural networkcontroller for robotic systems,” IEEE Trans. Ind.Electron., vol. 61, no. 3, pp. 1493–1503, March 2014.

    Article  Google Scholar 

  9. N. Hung, T. D. Viet, J.-S. Im, H.-H. Kim, and S.-B. Kim, “Motion control of an omnidirectional mobileplatform for trajectory tracking using an integralsliding mode controller,” International J. Control,Autom. and Sys., vol. 8, no. 6, pp. 1221–1231, 2010.

    Article  Google Scholar 

  10. J. Lian and J. Zhao, “Sliding mode control switched delay systems via hysteresis switching strategy,” International J. Control, Autom. and Sys., vol. 8, no.6, pp. 1171–1178, 2010.

    Article  Google Scholar 

  11. B. S. Park, J. B. Park, and Y.-H. Choi, “Robustformation control of electrically drivennonholonomic mobile robots via sliding modetechnique” International J. Control, Autom. andSys., vol. 9, no. 5, pp. 888–8943, 2011.

    Article  Google Scholar 

  12. Y. Liu, Y. Niu, and Y. Zou, “Sliding mode controlfor uncertain switched systems subject to actuatornonlinearity,” International J. Control, Autom. andSys., vol. 12, no. 1, pp. 57–62, 2014.

    Article  Google Scholar 

  13. Y. Hong, Y. Xu, and J. Huang, “Finite-time controlfor robot manipulator,” System & Contr. Letter, vol. 46, pp. 243–253, 2002.

    Article  MathSciNet  MATH  Google Scholar 

  14. S. Yu, X. Yu, B. Shirinzadeh, and Z. Man,“Continuous finite-time control for roboticmanipulators with terminal sliding mode,” Automatica, vol. 41, pp. 1957–1964, 2005.

    Article  MathSciNet  MATH  Google Scholar 

  15. Y.-H. Jo, Y.-H. Lee, and K.-B. Park, “Design ofgeneralized terminal sliding mode control forsecond-order systems,” International J. Control,Autom. and Sys., vol. 8, no. 3, pp. 606–610, 2011.

    Article  Google Scholar 

  16. S. I. Han and J. M. Lee, “Precise positioning ofnonsmooth dynamic systems using fuzzy waveletecho state networks and dynamic surface slidingmode control,” IEEE Trans. Ind. Electron., vol. 60, no. 11, pp. 5124–5136, November 2013.

    Article  Google Scholar 

  17. Humusoft Comp.: ‘MF 624 Multifunction I/O cardmanual’, Czech Republic, 2006

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department ofElectronic Engineering, Pusan National University, Busandaehakro 63 Beon-gil, Geumjeon-gu, Busan, 609-735, Korea

    Seong-Ik Han & Jang-Myung Lee

Authors
  1. Seong-Ik Han
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jang-Myung Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jang-Myung Lee.

Additional information

Recommended by Associate Editor Seul Jung under the direction of Editor Fuchun Sun.

This work was supported by the National Research Foundationof Korea (NRF) Grant funded by the Korean Government (MSIP)(NRF-2013R1A1A2021174).

Seong-Ik Han received his B.S. and M.S. degrees in Mechanical Engineering from Pusan National University, Busan, Korea, in 1987 and 1989, respectively, and his Ph.D. in Mechanical Design Engineering from Pusan National University, Busan,in 1995. From 1995 to 2009, he was an associate professor of electrical automation of Suncheon First College, Korea. Now he is with the Department of electronic engineering, Pusan National University, Korea. His research interests include intelligent control, nonlinear control, robotic control, vehicle system control, and steel process control.

Jang-Myung Lee received his B.S. and M.S. degree in electronic engineering from Seoul National University, Seoul,Korea, in 1980 and 1982, respectively,and his Ph.D. degree in computer engineering from the University of Southern California, Los Angeles, in 1990. Since 1992, he has been a Professor with Pusan National University, Busan, Korea. He was the Leader of the “Brain Korea 21 Project” of Pusan National University. His research interests include intelligent robotics, advanced control algorithm, and specialized environment navigation/localization. Prof. Lee was the former presidentof the Korean Robotics Society.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Han, SI., Lee, JM. Decentralized neural network control for guaranteed tracking error constraint of a robot manipulator. Int. J. Control Autom. Syst. 13, 906–915 (2015). https://doi.org/10.1007/s12555-014-0132-2

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-014-0132-2

Keywords

Search

Navigation