Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm

Rossomando, Francisco Guido et al · Institute of Electrical and Electronics Engineers · 2016

Supplementary material available

Quick overview. Review the resource’s basic details, then access the content using the main button. This page shows only the information needed to identify, cite, and open the work.

Author / responsible party

Rossomando, Francisco Guido et al

Publisher

Institute of Electrical and Electronics Engineers

Year

2016

ISSN

2556-2564

ISSN

2556-2564

Language

Spanish

Resource access

Open the content from the main option or choose another available source.

CONICET Digital CONICET Digital OAI-PMH

Entrar por CONICET Digital

Main access

Supplementary material available

El enlace apunta a material asociado, anexos, tablas, datos o página complementaria. No se marca como libro/texto completo.

Open material

Summary

Descripción general del contenido del recurso.

This work presents a neuro-adaptive control method in sliding mode control designed in discrete time for SCARA robot arm. The proposed control structure is based on neuro-adaptive sliding mode control to adjust dynamics variations of the SCARA robot. The sliding control is included to ensure that the discrete-time neural control can improve the stable closed loop system to be immune to the parameters variations. The proposed technique simultaneously ensures the stability of the adaptation of neural networks and can obtain adequate control when the robots parameters are inexactly or unknown. This adaptive neural system was applied on a SCARA type robot arm where the trajectory tracking error converges to zero. Finally, experiments have been developed on SCARA robot arm to demonstrate the efficiency of the proposed technique, including comparison with a classical controller. Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina

How to cite

Elegí el formato que necesitás y copiá la referencia al portapapeles.

APA 7

Rossomando, F. G. E. A. (2016). Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm. http://hdl.handle.net/11336/61202

MLA

Rossomando, Francisco Guido et al. "Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm." 2016. http://hdl.handle.net/11336/61202.

Chicago

Rossomando, Francisco Guido et al. 2016. "Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm.". http://hdl.handle.net/11336/61202.

Harvard

Rossomando, F. G. E. A. 2016, Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm, Institute of Electrical and Electronics Engineers, available at: http://hdl.handle.net/11336/61202 [Accessed 7 Aug. 2026].

Share and print

Save the record, copy its permanent link, or print it as a PDF.

Export reference

You can export the record in common formats for use in a reference manager.

RIS BibTeX

Resource details

Bibliographic information to help confirm that this is the correct material.

Title: Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm

Author / contributors: Rossomando, Francisco Guido et al

Publisher: Institute of Electrical and Electronics Engineers

Publication year: 2016

ISSN: 2556-2564

ISSN: 2556-2564

Language: Spanish

Subjects

Explore related resources through these subjects.

Adaptive Control; Mimo System; Neural Networks; Sliding Mode Control; https://purl.org/becyt/ford/2.2; https://purl.org/becyt/ford/2