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

Volume

2

fYear

1992

fDate

7-11 Jun 1992

Firstpage

869

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Neural Networks, 1992. IJCNN., International Joint Conference on

Conference_Location

Baltimore, MD

Print_ISBN

0-7803-0559-0

Type

conf

DOI

10.1109/IJCNN.1992.226878

Filename

226878