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Neural network-based adaptive control of robotic manipulator : application to a three links cylindrical robot
Author
Source
The Iraqi Journal of Electrical and Electronic Engineering
Issue
Vol. 13, Issue 1 (30 Jun. 2017), pp.114-122, 9 p.
Publisher
University of Basrah College of Engineering
Publication Date
2017-06-30
Country of Publication
Iraq
No. of Pages
9
Main Subjects
Topics
Abstract EN
A composite PD and sliding mode neural network (NN)-based adaptive controller, for robotic manipulator trajectory tracking, is presented in this paper.
The designed neural networks are exploited to approximate the robotics dynamics nonlinearities, and compensate its effect and this will enhance the performance of the filtered error based PD and sliding mode controller.
Lyapunov theorem has been used to prove the stability of the system and the tracking error boundedness.
The augmented Lyapunov function is used to derive the NN weights learning law.
To reduce the effect of breaching the NN learning law excitation condition due to external disturbances and measurement noise; a modified learning law is suggested based on e-modification algorithm.
The controller effectiveness is demonstrated through computer simulation of cylindrical robot manipulator.
American Psychological Association (APA)
al-Husayn, Abd al-Basit A.. 2017. Neural network-based adaptive control of robotic manipulator : application to a three links cylindrical robot. The Iraqi Journal of Electrical and Electronic Engineering،Vol. 13, no. 1, pp.114-122.
https://search.emarefa.net/detail/BIM-770105
Modern Language Association (MLA)
al-Husayn, Abd al-Basit A.. Neural network-based adaptive control of robotic manipulator : application to a three links cylindrical robot. The Iraqi Journal of Electrical and Electronic Engineering Vol. 13, no. 1 (2017), pp.114-122.
https://search.emarefa.net/detail/BIM-770105
American Medical Association (AMA)
al-Husayn, Abd al-Basit A.. Neural network-based adaptive control of robotic manipulator : application to a three links cylindrical robot. The Iraqi Journal of Electrical and Electronic Engineering. 2017. Vol. 13, no. 1, pp.114-122.
https://search.emarefa.net/detail/BIM-770105
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 122
Record ID
BIM-770105