CMAC based adaptive control of a flexible link manipulator

Author

Maouche, Amin Riad ; Attari, Mokhtar

Author_Institution

Lab. of Instrum., Houari Boumedien Univ., Algiers, Algeria

fYear

2009

fDate

3-5 Nov. 2009

Firstpage

1480

Lastpage

1485

Abstract

This paper describes a hybrid approach to the problem of controlling flexible link manipulators in the face of both structured and unstructured uncertainties. First, a nonlinear controller based on the equations of motion of the robot is elaborated. Its aim is to produce a stable control. Then, an adaptive CMAC neural controller is implemented to compensate structured and unstructured uncertainties. Efficiency of the new controller obtained by combining the two control laws is tested facing an important variation of the dynamic parameters of the flexible manipulator and compared to a classical nonlinear controller. Simulation results show the effectiveness of the proposed control strategy.

Keywords

adaptive control; cerebellar model arithmetic computers; compensation; flexible manipulators; motion control; neurocontrollers; nonlinear control systems; stability; uncertain systems; adaptive CMAC neural controller; compensation; flexible link manipulator; nonlinear controller; robot motion; stable control; unstructured uncertainty; Adaptive control; Control systems; Equations; Magnetic materials; Manipulator dynamics; Motion control; Neural networks; Nonlinear control systems; Programmable control; Robots; Adaptive control; CMAC neural network; flexible-link manipulator; nonlinear control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE

Conference_Location

Porto

ISSN

1553-572X

Print_ISBN

978-1-4244-4648-3

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2009.5414718

Filename

5414718