TY - GEN
T1 - Neural Network-Based Terminal Sliding Mode Control for Insulator Cleaning Robots
AU - Jin, Jie
AU - Shen, Xiaoning
AU - Zhu, Qiaoman
AU - Chen, Weiliang
AU - Liu, Zhuang
AU - Liu, Jianxing
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Insulator cleaning robot operates in challenging and unpredictable conditions, whereas the conventional control algorithms are not easy to adapt to the complex disturbances. To deal with this issue, in this paper, a two-degree-of-freedom Lagrangian dynamics model is derived and a radial basis function (RBF) neural network based non-singular fast terminal sliding mode (NFTSM) controller is designed for the insulator cleaning robot. The NFTSM is designed for tracking the robot’s reference trajectory, and RBF neural network is introduced to compensate external disturbances and internal unmodelled dynamic, which further improves both the dynamic and steady state performance of the robot. Finally, simulation results demonstrate the advantages of the proposed controller in insulator cleaning robot trajectory tracking control.
AB - Insulator cleaning robot operates in challenging and unpredictable conditions, whereas the conventional control algorithms are not easy to adapt to the complex disturbances. To deal with this issue, in this paper, a two-degree-of-freedom Lagrangian dynamics model is derived and a radial basis function (RBF) neural network based non-singular fast terminal sliding mode (NFTSM) controller is designed for the insulator cleaning robot. The NFTSM is designed for tracking the robot’s reference trajectory, and RBF neural network is introduced to compensate external disturbances and internal unmodelled dynamic, which further improves both the dynamic and steady state performance of the robot. Finally, simulation results demonstrate the advantages of the proposed controller in insulator cleaning robot trajectory tracking control.
KW - Sliding mode control
KW - neural network
KW - robotic systems
UR - https://www.scopus.com/pages/publications/85215533673
U2 - 10.1109/INDIN58382.2024.10774503
DO - 10.1109/INDIN58382.2024.10774503
M3 - 会议稿件
AN - SCOPUS:85215533673
T3 - IEEE International Conference on Industrial Informatics (INDIN)
BT - Proceedings - 2024 IEEE 22nd International Conference on Industrial Informatics, INDIN 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 22nd IEEE International Conference on Industrial Informatics, INDIN 2024
Y2 - 18 August 2024 through 20 August 2024
ER -