A neural-network compensator with fuzzy robustification terms for improved design of adaptive control of robot manipulators

被引：0
|
作者：
Fung, Y.H. [1 ]
Tso, S.K. [1 ]
机构：
[1] Ctr. Intelligent Des., Automat./Mfg., City University of Hong Kong, Hong Kong, Hong Kong
来源：
System and Control: Theory and Applications | 2000年
关键词：
Adaptive control systems - Algorithms - Fuzzy sets - Gravitational effects - Manipulators - Radial basis function networks - Robot applications - Robustness (control systems);
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A sum radial-basis-function neural-network (NN) compensator with computed-torque control and novel weight-tuning algorithms is proposed to improve tracking performance and to account for structured/unstructured uncertainties of robot manipulators. The proposed weight-tuning algorithms do not require the initial NN weights to be small. The bounds of NN weights are guaranteed to be convergent in the sense of Lyapunov. The effectiveness of the proposed algorithm is demonstrated using a laboratory robot manipulator.
引用
收藏
页码：119 / 124
相关论文
共 50 条
  • [31] Sliding mode adaptive neural-network control for nonholonomic mobile modular manipulators
    Liu, YG
    Li, YM
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2005, 44 (03) : 203 - 224
  • [32] Sliding Mode Adaptive Neural-Network Control for Nonholonomic Mobile Modular Manipulators
    Yugang Liu
    Yangmin Li
    Journal of Intelligent and Robotic Systems, 2005, 44 : 203 - 224
  • [33] Robust tracking control of rigid robotic manipulators based on fuzzy neural network compensator
    Lei, Lin
    Hua-bin, Ren
    Hong-rui, Wang
    2006 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-6, 2006, : 509 - +
  • [34] Robust tracking control of rigid robotic manipulators based on fuzzy neural network compensator
    Lin, Lei
    Wang, Hong-Rui
    PROCEEDINGS OF 2007 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7, 2007, : 550 - 555
  • [35] FUZZY MODEL-FOLLOWING ADAPTIVE CONTROL DESIGN FOR ROBOT MANIPULATORS
    Zhao Dongbiao
    Zhu Jianying (Nanjing University of Aeronautics and Astronautics)
    Chinese Journal of Mechanical Engineering(English Edition), 1995, (02) : 97 - 103
  • [36] Fuzzy variable-structure-adaptive control design for robot manipulators
    Zhao, Dongbiao
    Zhu, Jianying
    CIRP Annals - Manufacturing Technology, 1995, 44 (01) : 363 - 368
  • [37] Neural network control of robot manipulators
    Lewis, FL
    IEEE EXPERT-INTELLIGENT SYSTEMS & THEIR APPLICATIONS, 1996, 11 (03): : 64 - 75
  • [38] Neural network control of robot manipulators
    Univ of Texas at Arlington, Arlington, United States
    IEEE expert, 1996, 11 (03): : 64 - 75
  • [39] Stable neural network adaptive control of constrained redundant robot manipulators
    Benallegue, A
    Daachi, B
    Cherif, AR
    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, 2002, : 2193 - 2199
  • [40] Decentralized adaptive fuzzy control of robot manipulators
    Zhejiang Univ, Hangzhou, China
    IEEE Trans Syst Man Cybern Part B Cybern, 1 (47-57):
12345