DocumentCode :
3412994
Title :
Adaptive Control of Robotic Dynamic Systems Based on Fuzzy Basis Function Networks
Author :
Liu, Gang ; Zheng, Wen-Da ; Du, Tao ; Yang, Jie
Author_Institution :
Xi´´an Res. Inst. of High Technol., Xi´´an, China
Volume :
2
fYear :
2010
fDate :
23-24 Oct. 2010
Firstpage :
263
Lastpage :
266
Abstract :
This paper presents a FBFN-based (Fuzzy Basis Function Network) adaptive control algorithm for uncertain robot manipulators. According to the nominal mode, the corresponding control law was designed. However, there always exists discrepancy between nominal and actual mode, and the FBFN was applied to approximate the uncertainty. After that, the adaptive law was designed to update the parameters of FBFN. Based on the theory of Lyapunov stability, the stability of the adaptive controller was given with a sufficient condition. A two-arm robot is simulated to verify the feasibility of the proposed control scheme.
Keywords :
Lyapunov methods; adaptive control; dexterous manipulators; fuzzy neural nets; radial basis function networks; uncertain systems; Lyapunov stability theory; adaptive control; fuzzy basis function network; robotic dynamic system; two arm robot; uncertain robot manipulator; Adaptive control; Approximation methods; Fuzzy systems; Manipulator dynamics; Nonlinear dynamical systems; adaptive control; fuzzy basis function networks; robotic dynamic systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Artificial Intelligence and Computational Intelligence (AICI), 2010 International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-8432-4
Type :
conf
DOI :
10.1109/AICI.2010.177
Filename :
5656384
Link To Document :
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