Title :
A decentralized adaptive joint neurocontroller
Author :
Cox, C.J. ; Lothers, M. ; Pap, R.M. ; Thomas, C.R.
Author_Institution :
Accurate Automation Corp., Chattanooga, TN, USA
Abstract :
A decentralized adaptive joint neurocontroller for an n-joint robot arm is described. The joint neurocontroller consists of a PVA controller (feedforward proportional-velocity-acceleration controller) and a PD controller (feedback position-derivative controller) whose terms are adapted by a recurrent functional link neural networks. It uses positional information only. Simulation studies of a two joint robot arm have shown that this controller is stable and robust. The joint neurocontroller performed as well or better than one current adaptive controller technique and one current nonadaptive controller technique
Keywords :
adaptive control; recurrent neural nets; robots; PD controller; PVA controller; decentralized adaptive joint neurocontroller; feedback position-derivative controller; feedforward proportional-velocity-acceleration controller; n-joint robot arm; positional information; recurrent functional link neural networks; two joint robot arm; Feedforward neural networks; Neural networks; Neurocontrollers; Neurofeedback; PD control; Programmable control; Proportional control; Recurrent neural networks; Robots; Robust control;
Conference_Titel :
Neural Networks, 1992. IJCNN., International Joint Conference on
Conference_Location :
Baltimore, MD
Print_ISBN :
0-7803-0559-0
DOI :
10.1109/IJCNN.1992.226878
