Title :
Real-Time Learning Controller Design for a Two-Link Robotic Arm
Author :
Kuo, Tzu-Chun ; Huang, Ying-Jeh ; Wang, Chin-Yun
Author_Institution :
Department of Electrical Engineering, Chin Yun Unversity, Chungli, Taiwan. E-MAIL: tck@cyu.edu.tw, s917134@mail.yzu.edu.tw
Abstract :
In this paper, a real-time learning control method involving the proportional-derivative controller and cerebellar model articulation controller (CMAC) is proposed. A feed-forward compensation using CMAC is proposed to learn and control the uncertain system dynamics with unknown but bounded nonlinearities. A priori knowledge of the system parameter values is not required. An application of robotic arm control system is carried out to demonstrate the effectiveness and robustness of the control method.
Keywords :
PD control; cerebellar model arithmetic computers; compensation; control nonlinearities; control system synthesis; feedforward neural nets; learning systems; manipulator dynamics; neurocontrollers; robust control; uncertain systems; bounded nonlinearities; cerebellar model articulation controller; control robustness; feed-forward compensation; manipulator; proportional-derivative controller; real-time learning controller design; two-link robotic arm; uncertain system dynamics; Control nonlinearities; Control systems; Feedforward systems; Nonlinear control systems; Nonlinear dynamical systems; PD control; Proportional control; Robot control; Robust control; Uncertain systems; Cerebellar model articulation controller; Manipulators; Proportional-derivative controller; Uncertain systems;
Conference_Titel :
Machine Learning and Cybernetics, 2007 International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4244-0973-0
Electronic_ISBN :
978-1-4244-0973-0
DOI :
10.1109/ICMLC.2007.4370223
