ニューラルネットワークを用いた適応スライディングモード制御による円筒型マニピュレータの軌道追従
Development of an Adaptive Sliding Mode Controller using Neural Networks for Trajectory Tracking of a Cylindrical Manipulator
円筒型マニピュレータの軌道追従精度を高めるため、スライディングモード制御にニューラルネットワークを組み合わせた適応制御器を開発し、シミュレーションで有効性を示した。
著者: TieuNien Le, VanCuong Pham, NgocSon Vu
分類: eess.SY, cs.RO, cs.SY, physics.app-ph
原文アブストラクト
Cylindrical manipulators are extensively used in industrial automation, especially in emerging technologies like 3D printing, which represents a significant future trend. However, controlling the trajectory of nonlinear models with system uncertainties remains a critical challenge, often leading to reduced accuracy and reliability. To address this, the study develops an Adaptive Sliding Mode Controller (ASMC) integrated with Neural Networks (NNs) to improve trajectory tracking for cylindrical manipulators. The ASMC leverages the robustness of sliding mode control and the adaptability of neural networks to handle uncertainties and dynamic variations effectively. Simulation results validate that the proposed ASMC-NN achieves high trajectory tracking accuracy, fast response time, and enhanced reliability, making it a promising solution for applications in 3D printing and beyond.