Wavelet neural networks robust control of farm transmission line deicing robot manipulators

Authors:
Shuning Wei;Yaonan Wang;Yi Zuo
Affiliations:
College of Electric and Information Engineering, Hunan University, Changsha, Hunan, 410082, PR China;College of Electric and Information Engineering, Hunan University, Changsha, Hunan, 410082, PR China;College of Electric and Information Engineering, Hunan University, Changsha, Hunan, 410082, PR China and Key Laboratory for Power Technology of Renewable Energy Sources of Hunan Province, Changsha ...
Venue:
Computer Standards & Interfaces
Year:
2012

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Abstract

This paper shows some new results for the wavelet neural networks robust control of farm transmission line deicing robot manipulators (FTLDRM). A wavelet neural network is used to approximate the unknown model uncertainties and disturbances, and an adaptive robust compensator is given to compensate the lumped uncertainty. Based on the stability and neural network approximation theory, several sufficient conditions are provided which guarantee the convergence of the feedback error system. Both simulation and experimental results are given to show the superior performance of the proposed intelligent control method.