DocumentCode
1545065
Title
A new stable tracking control scheme for robotic manipulators
Author
Feng, Gang
Author_Institution
Sch. of Electr. Eng., New South Wales Univ., Kensington, NSW, Australia
Volume
27
Issue
3
fYear
1997
fDate
6/1/1997 12:00:00 AM
Firstpage
510
Lastpage
516
Abstract
The paper considers tracking control of robots in joint space. A new control algorithm is proposed based on the well known computed torque method and a compensating controller. The compensating controller is realized by using a switch type structure and an RBF neural network. It is shown that stability of the closed loop system and better tracking performance can be established based on Lyapunov theory. Simulation results are also provided to support our analysis
Keywords
Lyapunov methods; closed loop systems; feedforward neural nets; neurocontrollers; path planning; position control; tracking; Lyapunov theory; RBF neural network; closed loop system; compensating controller; computed torque method; control algorithm; joint space; robotic manipulators; stable tracking control scheme; switch type structure; tracking performance; Closed loop systems; Computational modeling; Manipulators; Neural networks; Orbital robotics; Robot control; Stability; Switches; Torque control; Tracking loops;
fLanguage
English
Journal_Title
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
1083-4419
Type
jour
DOI
10.1109/3477.584957
Filename
584957
Link To Document