Neural Dynamics Variations Observer Designed for Robot Manipulator Control Using a Novel Saturated Control Technique

Abstract

(is work presents a novel controller for the dynamics of robots using a dynamic variations observer. (e proposed controller uses a saturated control law based on sin(tg− 1(.)) function instead of tanh(.). Besides, this function is an alternative to the use of tanh(.) in saturation control, since it reaches its maximum value more gradually than the hyperbolic tangent function. Using this characteristic, the transition between states is smoother, with similar accuracy to tanh(.). (e controller is designed using a saturated SMC (sliding mode controller) and a dynamic variations observer based on GRNN (general regression neural network). (e originality of this work is the use of a combination of adaptive GRNN with a sliding mode controller (SMC) including a new saturation function. Finally, experiments based on trajectory tracking demonstrate the robustness and simplicity of this method.