Radial Basis Functional Link Network and Hamilton Jacobi Issacs for ForcePosition Control in Robotic Manipulation
Joint Authors
Yuan, Junying
Zhu, Jinghai
Wen, Shuhuan
Source
Mathematical Problems in Engineering
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-08-01
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper works on hybrid force/position control in robotic manipulation and proposes an improved radial basis functional (RBF) neural network, which is a robust relying on the Hamilton Jacobi Issacs principle of the force control loop.
The method compensates uncertainties in a robot system by using the property of RBF neural network.
The error approximation of neural network is regarded as an external interference of the system, and it is eliminated by the robust control method.
Since the conventionally fixed structure of RBF network is not optimal, resource allocating network (RAN) is proposed in this paper to adjust the network structure in time and avoid the underfit.
Finally the advantage of system stability and transient performance is demonstrated by the numerical simulations.
American Psychological Association (APA)
Wen, Shuhuan& Yuan, Junying& Zhu, Jinghai. 2011. Radial Basis Functional Link Network and Hamilton Jacobi Issacs for ForcePosition Control in Robotic Manipulation. Mathematical Problems in Engineering،Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-1029625
Modern Language Association (MLA)
Wen, Shuhuan…[et al.]. Radial Basis Functional Link Network and Hamilton Jacobi Issacs for ForcePosition Control in Robotic Manipulation. Mathematical Problems in Engineering No. 2012 (2012), pp.1-10.
https://search.emarefa.net/detail/BIM-1029625
American Medical Association (AMA)
Wen, Shuhuan& Yuan, Junying& Zhu, Jinghai. Radial Basis Functional Link Network and Hamilton Jacobi Issacs for ForcePosition Control in Robotic Manipulation. Mathematical Problems in Engineering. 2011. Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-1029625
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1029625