IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
ACC'09 Proceedings of the 2009 conference on American Control Conference
Dynamic model identification of 2-axes PAM robot arm using neural MIMO NARX model
ICIC'09 Proceedings of the 5th international conference on Emerging intelligent computing technology and applications
A DSC approach to robust adaptive NN tracking control for strict-feedback nonlinear systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on game theory
MIMO adaptive fuzzy terminal sliding-mode controller for robotic manipulators
Information Sciences: an International Journal
Decentralized PID neural network control for five degree-of-freedom active magneticbearing
Engineering Applications of Artificial Intelligence
Information Sciences: an International Journal
Global tracking control of a wheeled mobile robot using RBF neural networks
ISNN'13 Proceedings of the 10th international conference on Advances in Neural Networks - Volume Part II
| Hi-index | 0.00 |
A new method for the robust control of flexible-joint (FJ) robots with model uncertainties in both robot dynamics and actuator dynamics is proposed. The proposed control system is a combination of the adaptive dynamic surface control (DSC) technique and the self-recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides the ability to overcome the "explosion of complexity" problem in backstepping controllers. The SRWNNs are used to observe the arbitrary model uncertainties of FJ robots, and all their weights are trained online. From the Lyapunov stability analysis, their adaptation laws are induced, and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a three-link FJ robot are utilized to validate the good position tracking performance and robustness against payload uncertainties and external disturbances of the proposed control system