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Article

Application of Improved Sliding Mode and Artificial Neural Networks in Robot Control

1
Department of Mechanical System Engineering, Gyeongsang National University, Tongyeong 53064, Republic of Korea
2
Training Ship Operation Center, Gyeongsang National University, Tongyeong 53064, Republic of Korea
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Submission received: 25 April 2024 / Revised: 21 May 2024 / Accepted: 18 June 2024 / Published: 19 June 2024

Abstract

Mobile robots are autonomous devices capable of self-motion, and are utilized in applications ranging from surveillance and logistics to healthcare services and planetary exploration. Precise trajectory tracking is a crucial component in robotic applications. This study introduces the use of improved sliding surfaces and artificial neural networks in controlling mobile robots. An enhanced sliding surface, combined with exponential and hyperbolic tangent approach laws, is employed to mitigate chattering phenomena in sliding mode control. Nonlinear components of the sliding control law are estimated using artificial neural networks. The weights of the neural networks are updated online using a gradient descent algorithm. The stability of the system is demonstrated using Lyapunov theory. Simulation results in MATLAB/Simulink R2024a validate the effectiveness of the proposed method, with rise times of 0.071 s, an overshoot of 0.004%, and steady-state errors approaching zero meters. Settling times were 0.0978 s for the x-axis and 0.0902 s for the y-axis, and chattering exhibited low amplitude and frequency.
Keywords: sliding mode control; mobile robot; improved sliding surface; artificial neural network; MATLAB/Simulink sliding mode control; mobile robot; improved sliding surface; artificial neural network; MATLAB/Simulink

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MDPI and ACS Style

Pham, D.-A.; Ahn, J.-K.; Han, S.-H. Application of Improved Sliding Mode and Artificial Neural Networks in Robot Control. Appl. Sci. 2024, 14, 5304. https://0-doi-org.brum.beds.ac.uk/10.3390/app14125304

AMA Style

Pham D-A, Ahn J-K, Han S-H. Application of Improved Sliding Mode and Artificial Neural Networks in Robot Control. Applied Sciences. 2024; 14(12):5304. https://0-doi-org.brum.beds.ac.uk/10.3390/app14125304

Chicago/Turabian Style

Pham, Duc-Anh, Jong-Kap Ahn, and Seung-Hun Han. 2024. "Application of Improved Sliding Mode and Artificial Neural Networks in Robot Control" Applied Sciences 14, no. 12: 5304. https://0-doi-org.brum.beds.ac.uk/10.3390/app14125304

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