Model-free trajectory control of a two-link flexible-joint robot: Theory and experiment

被引：0

作者：

Chatlatanagulchai, Withit ^{[1
]}

Meckl, Peter H. ^{[1
]}

机构：

[1] Purdue Univ, Sch Mech Engn, Mot & Vibrat Control Lab, W Lafayette, IN 47907 USA

来源：

PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B | 2005年

关键词：

flexible-joint robot; intelligent control; backstepping; variable structure 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：

We present a state-feedback control of a two-link flexible-joint robot. First, we obtain desired control laws from Lyapunov's second method. Then, we use three-layer neural networks to learn the unknown parts of the desired control laws. In this way, the control algorithm does not require the mathematical model representing the robot. We use a smooth variable structure controller to handle uncertainties from the neural network approximation and external disturbances. To show the effectiveness and practicality of this control algorithm, we performed an experiment on one of the robots in our laboratory.

引用

页码：1369 / 1377

页数：9

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