A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic Manipulator

A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic Manipulator

This paper presents a robust bio-inspired sliding mode control approach, designed to achieve a favourable tracking performance in a class of robotic manipulators with uncertainties. To this end, brain emotional learning-based intelligent control (BELBIC) is applied, to adaptively adjust the control...

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Bibliographic Details
Main Author: Hak Yi
Format: Article
Language:English
Published: SAGE Publishing 2015-11-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/61817
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spelling doaj-44b1494af8fd48e5a62fb9cdf60ef01d2020-11-25T03:39:18ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142015-11-011210.5772/6181710.5772_61817A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic ManipulatorHak Yi0University of California, Los Angeles, California, USAThis paper presents a robust bio-inspired sliding mode control approach, designed to achieve a favourable tracking performance in a class of robotic manipulators with uncertainties. To this end, brain emotional learning-based intelligent control (BELBIC) is applied, to adaptively adjust the control input law in the sliding mode control. The combined form provides an adjustment of the control input law that effectively alleviates the chattering effects of the sliding mode control. Specifically, the online parameters computed from the parameter uncertainties and external disturbances help to improve the system robustness. The simulation results demonstrate that the proposed bio-inspired control strategy is very successful at tracking the given trajectories with less chattering as compared to both the conventional and fuzzy sling mode control schemes.https://doi.org/10.5772/61817
collection DOAJ
language English
format Article
sources DOAJ
author Hak Yi
spellingShingle Hak Yi
A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic Manipulator
International Journal of Advanced Robotic Systems
author_facet Hak Yi
author_sort Hak Yi
title A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic Manipulator
title_short A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic Manipulator
title_full A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic Manipulator
title_fullStr A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic Manipulator
title_full_unstemmed A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic Manipulator
title_sort sliding mode control using brain limbic system control strategy for a robotic manipulator
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2015-11-01
description This paper presents a robust bio-inspired sliding mode control approach, designed to achieve a favourable tracking performance in a class of robotic manipulators with uncertainties. To this end, brain emotional learning-based intelligent control (BELBIC) is applied, to adaptively adjust the control input law in the sliding mode control. The combined form provides an adjustment of the control input law that effectively alleviates the chattering effects of the sliding mode control. Specifically, the online parameters computed from the parameter uncertainties and external disturbances help to improve the system robustness. The simulation results demonstrate that the proposed bio-inspired control strategy is very successful at tracking the given trajectories with less chattering as compared to both the conventional and fuzzy sling mode control schemes.
url https://doi.org/10.5772/61817
work_keys_str_mv AT hakyi aslidingmodecontrolusingbrainlimbicsystemcontrolstrategyforaroboticmanipulator
AT hakyi slidingmodecontrolusingbrainlimbicsystemcontrolstrategyforaroboticmanipulator
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