Adaptive RBF network control for robot manipulators
محل انتشار: مجله هوش مصنوعی و داده کاوی، دوره: 2، شماره: 2
سال انتشار: 1392
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 812
فایل این مقاله در 9 صفحه با فرمت PDF قابل دریافت می باشد
- صدور گواهی نمایه سازی
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
JR_JADM-2-2_002
تاریخ نمایه سازی: 9 اسفند 1393
چکیده مقاله:
The uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robustcontroller for electrically driven robot manipulators. As a novelty, the proposed controller employs asimple Gaussian Radial-Basis-Function network (RBF network) as an uncertainty estimator. The proposed network includes a hidden layer with one node, two inputs and a single output. In comparison with other model-free estimators such as multilayer neural networks and fuzzy systems,the proposed estimator is simpler, less computational and more effective. The weights of the RBF network are tuned online using an adaptation law derived by stability analysis. Despite the majority of previous control approaches which are the torque-based control, the proposed control design is thevoltage-based control. Simulations and comparisons with a robust neural network control approach show the efficiency of the proposed control approach applied on the articulated robot manipulator driven by permanent magnet DC motors.
کلیدواژه ها:
Adaptive Uncertainty Estimator ، RBF Network Control ، Robust Control ، Electrically Driven Robot Manipulators
نویسندگان
m.m fateh
Department of Electrical Engineering, University of Shahrood, Shahrood, Iran.
s.m ahmadi
Department of Mechanical Engineering, University of Shahrood, Shahrood, Iran.
s khorashadizadeh
Department of Electrical Engineering, University of Shahrood, Shahrood, Iran.