Abstract
In this paper, we propose a PD-like visual servoing with second order sliding mode observer and neural network compensation algorithm for planar robot manipulators with only position measurement. This controller is designed based on a combining of a PD controller, neural network compensation and a velocity observer. First, a PD controller is designed as a nominal controller to control robot. Then, in order to compensate the uncertainties, an online learning neural network is designed. Furthermore, the controller incorporates a super-twisting second-order sliding mode observer for estimating the joint velocities; therefore, the velocity measurement is not required. The stability of the closed-loop controller-observer is proved based on the Lyapunov method. Finally, a computer simulation results are presented to evaluate the proposed controller.
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Duc, T.M., Mien, V., Kang, HJ., Dung, L.T. (2014). Visual Servoing of Robot Manipulator Based on Second Order Sliding Observer and Neural Compensation. In: Huang, DS., Bevilacqua, V., Premaratne, P. (eds) Intelligent Computing Theory. ICIC 2014. Lecture Notes in Computer Science, vol 8588. Springer, Cham. https://doi.org/10.1007/978-3-319-09333-8_26
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DOI: https://doi.org/10.1007/978-3-319-09333-8_26
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-09332-1
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