Robust tracking control of space robots using fuzzy neural network

Author

Wang, Changhong ; Feng, Baomin ; Ma, Guangcheng ; Ma, Chuang

Author_Institution

Res. Center of Space Control & Inertia Technol., Harbin Inst. of Technol., China

fYear

2005

fDate

27-30 June 2005

Firstpage

181

Lastpage

185

Abstract

This paper proposes for space robots a robust fuzzy neural network (FNN) controller, which does not require linear parameterization necessary for standard adaptive control of fixed-base robot manipulator. With suitable modifications, this FNN tracking controller can achieve high-precision position control. Simulation results of a two-link planar space robot verify the validity of the proposed RFNN controller in the presence of uncertainties.

Keywords

adaptive control; aerospace robotics; fuzzy control; fuzzy neural nets; manipulators; neurocontrollers; position control; robust control; FNN tracking controller; RFNN controller; adaptive control; fixed-base robot manipulator; fuzzy neural network; linear parameterization; position control; robust tracking control; space robots; uncertainty; Control systems; Fuzzy control; Fuzzy neural networks; Manipulator dynamics; Orbital robotics; Robot control; Robust control; Space missions; Space stations; Space technology; Space robot; fuzzy-neural network; tracking control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on

Print_ISBN

0-7803-9355-4

Type

conf

DOI

10.1109/CIRA.2005.1554274

Filename

1554274