Title :
Stable neuro-adaptive control for robot with unknown dynamics
Author :
Sun, Fuchun ; Sun, Zengqi ; Kim, Kab, II ; Zhu, Yunyue ; Wenjuan, Lu
Author_Institution :
Dept. of Comput. Sci. & Tech., Tsinghua Univ., Beijing, China
Abstract :
An indirect adaptive control approach is developed in this paper for unknown robots using neural networks (NN). A key property of the proposed approach is that the actual joint angle values in the control law is replaced by the desired joint angle, angular speed and acceleration, and the bound on the NN reconstruction error is assumed to be unknown. Main theoretical results for designing such a neuro-adaptive controller are given, and the control performance of the proposed controller is verified with simulation studies
Keywords :
adaptive control; control system synthesis; manipulator dynamics; neurocontrollers; stability; angular acceleration; angular speed; indirect adaptive control; joint angle; neural networks; reconstruction error bound; stable neuro-adaptive control design; unknown robot dynamics; Adaptive control; Error correction; Manipulator dynamics; Neural networks; Programmable control; Robot control; Robot sensing systems; Sun; Trajectory; Uncertainty;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770371
