Adaptive neural control of a rotating flexible manipulator

Author

Maouche, A.R. ; Attari, M.

Author_Institution

Lab. of Instrum., Houari Boumedien Univ., Algiers

fYear

2008

fDate

11-13 June 2008

Firstpage

517

Lastpage

522

Abstract

The motion control of a planar manipulator with a flexible arm is studied. Dynamics are developed in Lagrangepsilas formulation. A novel control system structure is proposed to control the joint position and velocity as well as deflection of the tip of the arm. First, a neural network controller based on the equations of motion of the robot is elaborated. Its aim is to produce a fast and stable control. Then, an adaptive neural controller is added to compensate structured and unstructured uncertainties. Efficiency of the new controller obtained by combining the two control laws is tested facing an important variation of the dynamic parameters of the flexible manipulator and compared to a classical nonlinear controller. Simulation results show the effectiveness of the control strategy proposed.

Keywords

adaptive control; control engineering computing; flexible manipulators; motion control; neurocontrollers; nonlinear control systems; Lagranges formulation; adaptive neural control; classical nonlinear controller; motion control; neural network controller; novel control system structure; planar manipulator; robot flexible arm; rotating flexible manipulator; stable control; Adaptive control; Control systems; Equations; Lagrangian functions; Manipulator dynamics; Motion control; Neural networks; Programmable control; Robots; Velocity control; Adaptive neural control; flexible manipulator; nonlinear control;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics, Electrical Drives, Automation and Motion, 2008. SPEEDAM 2008. International Symposium on

Conference_Location

Ischia

Print_ISBN

978-1-4244-1663-9

Electronic_ISBN

978-1-4244-1664-6

Type

conf

DOI

10.1109/SPEEDHAM.2008.4581211

Filename

4581211