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An Adaptive Controller with An Orthogonal Neural Network and A Third Order Sliding Mode Observer for Robot Manipulators

Quang Dan Le 1, Hee-Jun Kang 1, and Tien Dung Le 2
1. Graduate school of Electrical Engineering University of Ulsan, 680-749, Ulsan, South Korea
2. The University of Danang – University of Science & Technology, Danang, Vietnam

Abstract—In this paper, An adaptive controller with an orthogonal neural network (ONN) and a third order sliding mode(TOSM) observer for robot manipulators is proposed. Firstly, the TOSM observer is designed to observe joint velocities. Then, the ONN is designed to compensate robot dynamic uncertainties on line inside a computed torque control structure. Therefore, the proposed controller allows only position measurements due to the TOSM observer and achieve highly accurate trajectory tracking performance due to the ONN’s uncertainty compensation. Finally, computer simulation for a 2-DOF manipulator is performed to show verify the effectiveness of the proposed controller. 

Index Terms—orthogonal neural network, third order sliding mode observers, on line dynamic compensation

Cite: Quang Dan Le, Hee-Jun Kang,  and Tien Dung Le, "An Adaptive Controller with An Orthogonal Neural Network and A Third Order Sliding Mode Observer for Robot Manipulators," International Journal of Mechanical Engineering and Robotics Research, Vol. 7, No. 2, pp. 169-173, March 2018. DOI: 10.18178/ijmerr.7.2.169-173

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