PSO based backstepping sliding mode controller and observer for robot manipulators

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dc.contributor.authorVijay, M.
dc.contributor.authorJena, D.
dc.date.accessioned2026-02-06T06:38:08Z
dc.date.issued2018
dc.description.abstractThis paper examines the structure of an observer-based modified backstepping boundary sliding mode controller (BBSMC) for 2 degrees of freedom robot manipulator. A radial basis functional NN (RBFNN) is combined with BBSMC and adjustment law is derived for the effective control of a robot manipulator. The RBFNN-based observer is used to estimate the tracking position and velocity vector, at the same time RBFNN-based identifier provides an auxiliary torque to the robot manipulator. For both the observer and identifier, a PSO based off-line tuning method is adapted to tune the weights of RBFNN network. The stability of developed controller is checked by utilizing Lyapunov stability function. Finally, the performance of the proposed NNAOBBSMC is validated experimentally. © 2018 IEEE.
dc.identifier.citationProceedings of 2018 IEEE International Conference on Power, Instrumentation, Control and Computing, PICC 2018, 2018, Vol., , p. 1-6
dc.identifier.urihttps://doi.org/10.1109/PICC.2018.8384742
dc.identifier.urihttps://idr.nitk.ac.in/handle/123456789/31465
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.subjectAdaptive control
dc.subjectbackstepping sliding mode control
dc.subjectdisturbance rejection
dc.subjectneural network (NN)
dc.subjectposition tracking
dc.subjectrobot manipulator
dc.titlePSO based backstepping sliding mode controller and observer for robot manipulators

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