Composite learning sliding mode control of flexible-link manipulator (Q1674975)
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scientific article; zbMATH DE number 6798536
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| English | Composite learning sliding mode control of flexible-link manipulator |
scientific article; zbMATH DE number 6798536 |
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Composite learning sliding mode control of flexible-link manipulator (English)
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26 October 2017
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Summary: This paper studies the control of a flexible-link manipulator with uncertainty. The fast and slow dynamics are derived based on the singular perturbation (SP) theory. The sliding mode control is proposed while the adaptive design is developed using Neural Networks (NNs) and Disturbance OBserver (DOB) where the novel update laws for NN and DOB are designed. The closed-loop system stability is guaranteed via Lyapunov analysis. The effectiveness of the proposed method is verified via simulation test.
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composite learning sliding mode control
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flexible-link manipulator
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uncertainty
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singular perturbation (SP) theory
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adaptive design
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neural networks (NNs)
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disturbance observer (DOB)
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closed-loop system stability
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Lyapunov analysis
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0.834453284740448
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0.8335105776786804
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0.8009141683578491
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0.7984640002250671
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0.7970935106277466
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