Robot Manipulator Control Based on the Inner-learning Mechanism

被引：0
|
作者：
Xiang, Jian [1 ]
Xue, Fangzheng [1 ]
机构：
[1] Chongqing Univ, Sch Automat, Chongqing 400044, Peoples R China
来源：
26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC) | 2014年
关键词：
Multi-controller architecture; learning mechanism; multitasking; switching control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with the control problem of a class of multi-tasking and varying-load robot systems, presents an effective control architecture based on inner-learning mechanism. The novelty of the controller designed by the new architecture is in the fact that the sub-controllers can learn from each other and change information from each other; it can also avoid the failures of the sub-controllers. The good performance and the feasibility of this approach are shown through the experimental results.
引用
收藏
页码：2139 / 2143
页数：5
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