DocumentCode :
3548775
Title :
Robust Composite Saturation Compensation for a Single Flexible Link Using Neural Networks
Author :
Gao, Wenzhi ; Selmic, Rastko R. ; Lewis, Frank L.
Author_Institution :
Dept. of Electr. Eng., Louisiana Tech. Univ., Ruston, LA
fYear :
2005
fDate :
27-29 June 2005
Firstpage :
280
Lastpage :
285
Abstract :
A robust neural network (NN) composite saturation compensation scheme is presented for a trajectory tracking and a vibration suppression of a flexible link robot arm. The scheme is based on a singular-perturbation technique and can accommodate an unknown disturbance and the saturation constraints. The saturation compensator is composed of a robust fast sub-compensator for stabilization of the fast, flexible modes and a slow sub-compensator for a stable tracking control of the slow, rigid modes. The actuator saturation is assumed unknown. A NN-based slow subcompensator is inserted into the feedforward path. The stability analysis is based on the Lyapunov theory. Simulation results indicate that the proposed scheme can effectively compensate the saturation nonlinearity for underactuated systems
Keywords :
Lyapunov methods; compensation; feedforward; flexible manipulators; neurocontrollers; position control; robust control; vibration control; Lyapunov theory; actuator saturation; feedforward path; neural networks; robot arm; robust composite saturation compensation; single flexible link; singular-perturbation technique; stability analysis; trajectory tracking; underactuated systems; vibration suppression; Friction; Gravity; Intelligent actuators; Intelligent control; Lagrangian functions; Manipulator dynamics; Matrix decomposition; Neural networks; Robot kinematics; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation
Conference_Location :
Limassol
ISSN :
2158-9860
Print_ISBN :
0-7803-8936-0
Type :
conf
DOI :
10.1109/.2005.1467028
Filename :
1467028
Link To Document :
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