Adaptive Dynamic Surface Control of Flexible-Joint Robots Using Self-Recurrent Wavelet Neural Networks

A new method for the robust control of flexible-joint (FJ) robots with model uncertainties in both robot dynamics and actuator dynamics is proposed. The proposed control system is a combination of the adaptive dynamic surface control (DSC) technique and the self-recurrent wavelet neural network (SRW...

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Published in:IEEE transactions on cybernetics 2006-12, Vol.36 (6), p.1342-1355
Main Authors: Yoo, Sung Jin, Park, Jin Bae, Choi, Yoon Ho
Format: Article
Language:English
Subjects:
Actuators
Adaptive control
Adaptive control systems
Computer simulation
Control systems
Dynamic surface control (DSC)
Dynamical systems
Dynamics
Explosions
flexible-joint robots
Neural networks
Programmable control
Robot control
Robots
Robust control
self-recurrent wavelet neural network (SRWNN)
Surface waves
Uncertainty
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cited_by cdi_FETCH-LOGICAL-c444t-3bbe09beede0ef37f96bc8602d24f0438816a4abaac7603001806a26a2a66c703
cites cdi_FETCH-LOGICAL-c444t-3bbe09beede0ef37f96bc8602d24f0438816a4abaac7603001806a26a2a66c703
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container_title IEEE transactions on cybernetics
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creator Yoo, Sung Jin
Park, Jin Bae
Choi, Yoon Ho
description A new method for the robust control of flexible-joint (FJ) robots with model uncertainties in both robot dynamics and actuator dynamics is proposed. The proposed control system is a combination of the adaptive dynamic surface control (DSC) technique and the self-recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides the ability to overcome the "explosion of complexity" problem in backstepping controllers. The SRWNNs are used to observe the arbitrary model uncertainties of FJ robots, and all their weights are trained online. From the Lyapunov stability analysis, their adaptation laws are induced, and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a three-link FJ robot are utilized to validate the good position tracking performance and robustness against payload uncertainties and external disturbances of the proposed control system
doi_str_mv 10.1109/TSMCB.2006.875869
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identifier ISSN: 1083-4419
ispartof IEEE transactions on cybernetics, 2006-12, Vol.36 (6), p.1342-1355
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source IEEE Electronic Library (IEL) Journals
subjects Actuators
Adaptive control
Adaptive control systems
Computer simulation
Control systems
Dynamic surface control (DSC)
Dynamical systems
Dynamics
Explosions
flexible-joint robots
Neural networks
Programmable control
Robot control
Robots
Robust control
self-recurrent wavelet neural network (SRWNN)
Surface waves
Uncertainty
title Adaptive Dynamic Surface Control of Flexible-Joint Robots Using Self-Recurrent Wavelet Neural Networks
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