A NEURAL-NETWORK-BASED FEEDFORWARD ADAPTIVE CONTROLLER FOR ROBOTS

被引：58

作者：

CARELLI, R ^{[1
]}

CAMACHO, EF ^{[1
]}

PATINO, D ^{[1
]}

机构：

[1] UNIV SEVILLA,ETS INGN IND,E-41012 SEVILLE,SPAIN

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1995年 / 25卷 / 09期

关键词：

D O I：

10.1109/21.400506

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an adaptive controller for robot manipulators which uses neural networks is presented. The proposed control scheme is based on PD feedback plus a feedforward compensation of full robot dynamics, The feedforward signal is obtained by summing up the weighted outputs of a set of fixed multilayer neural nets, The controller is adaptive to robot dynamics and payload uncertainties, A stability analysis which takes into account neural network learning errors is included. Simulation results showing the feasibility and performance of the approach are given.

引用

页码：1281 / 1288

页数：8

共 23 条

[1]

CARELLI R, 1993, JUN EUR CONTR C ECC

[2]

CYBENKO G, 1988, 856 U ILL DEP EL COM

[3]

FUKUDA T, 1990, PROCEEDINGS OF THE 29TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, P3283, DOI 10.1109/CDC.1990.203402

[4]

GUEZ A, 1990, 29TH P C DEC CONTR H, P3260