Stability Analysis of Visual Servoing with Sliding-mode Estimation and Neural Compensation
نویسنده
چکیده
Abstract: In this paper, PD-like visual servoing is modified in two ways: a sliding-mode observer is applied to estimate the joint velocities, and a RBF neural network is used to compensate the unknown gravity and friction. Based on Lyapunov method and input--to-state stability theory, we prove that PD-like visual servoing with the sliding mode observer and the neuro compensator is robust stable when the gain of the PD controller is bigger than the upper bounds of the uncertainties. Several simulations are presented to support the theory results.
منابع مشابه
Hybrid Adaptive Neural Network AUV controller design with Sliding Mode Robust Term
This work addresses an autonomous underwater vehicle (AUV) for applying nonlinear control which is capable of disturbance rejection via intelligent estimation of uncertainties. Adaptive radial basis function neural network (RBF NN) controller is proposed to approximate unknown nonlinear dynamics. The problem of designing an adaptive RBF NN controller was augmented with sliding mode robust term ...
متن کاملSliding Mode with Neural Network Regulator for DFIG Using Two-Level NPWM Strategy
This article presents a sliding mode control (SMC) with artificial neural network (ANN) regulator for the doubly fed induction generator (DFIG) using two-level neural pulse width modulation (NPWM) technique. The proposed control scheme of the DFIG-based wind turbine system (WTS) combines the advantages of SMC control and ANN regulator. The reaching conditions, robustness and stability of the sy...
متن کاملGovernor design for hydropower plants by intelligent sliding mode variable structure control
This work proposes a neural-fuzzy sliding mode control scheme for a hydro-turbine speed governor system. Considering the assumption of elastic water hammer, a nonlinear mode of the hydro-turbine governor system is established. By linearizing this mode, a sliding mode controller is designed. The linearized mode is subject to uncertainties. The uncertainties are generated in the process of linear...
متن کاملAdvanced Robotic Systems Uncalibrated Neuro - Visual Servoing Control for Multiple Robot Arms Regular Paper
Diverse image-based tracking schemes for a robot moving in free motion have been proposed and experimentally validated. However, few visual servoing schemes have addressed the tracking of the desired trajectory and the contact forces for multiple robot arms. The main difficulty stems from the fact that camera information cannot be used to drive force trajectories. Recognizing this fact, a uniqu...
متن کاملRobust Backstepping Control of Induction Motor Drives Using Artificial Neural Networks and Sliding Mode Flux Observers
In this paper, using the three-phase induction motor fifth order model in a stationary twoaxis reference frame with stator current and rotor flux as state variables, a conventional backsteppingcontroller is first designed for speed and rotor flux control of an induction motor drive. Then in orderto make the control system stable and robust against all electromechanical parameter uncertainties a...
متن کامل