Adaptive Neural Network Sliding Mode Controller for Welding Robot with Uncertain Model in Nuclear Power Plant

Jiale Huan, Qingxin Shi, Pu Chen, Xingguang Duan*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The welding robot in nuclear power plant is used for repairing tasks of control rod guide tubes, thermocouple guide tubes, and baffle screws to prevent loosening welds. It can effectively replace manual operations in high radiation underwater environments. Due to the model uncertainty of the robot system itself and external disturbances, it is difficult for the robot to accurately track operational trajectories. This paper proposes an Adaptive Neural Network Sliding Mode Controller (ANNSMC) applied to welding robots in nuclear power plants, which includes three parts: sliding mode controller (SMC), neural network (NN)controller, and barrier Lyapunov function (BLF) output-constrained controller. The controller uses NN to improve adaptability to uncertain parts of the system and utilizes BLF to ensure tracking capability of trajectories when subjected to external disturbances. A simulation was conducted on a 2-link robot to evaluate the performance of this controller. The steady-state position error at the end of the robot is better than 0.01 rad.

Original languageEnglish
Title of host publicationIntelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings
EditorsXuguang Lan, Xuesong Mei, Caigui Jiang, Fei Zhao, Zhiqiang Tian
PublisherSpringer Science and Business Media Deutschland GmbH
Pages437-448
Number of pages12
ISBN (Print)9789819607709
DOIs
Publication statusPublished - 2025
Event17th International Conference on Intelligent Robotics and Applications, ICIRA 2024 - Xi'an, China
Duration: 31 Jul 20242 Aug 2024

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume15201 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference17th International Conference on Intelligent Robotics and Applications, ICIRA 2024
Country/TerritoryChina
CityXi'an
Period31/07/242/08/24

Keywords

  • Neural network control
  • Output-constrained control
  • Sliding mode control

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