Decentralized adaptive controller design of large-scale uncertain robotic systems

被引：35
|
作者：
Tan, Kok Kiong [1 ]
Huang, Sunan [1 ]
Lee, Tong Heng [1 ]
机构：
[1] Natl Univ Singapore, Dept Elect Engn, Singapore 120611, Singapore
来源：
AUTOMATICA | 2009年 / 45卷 / 01期
关键词：
Adaptive control; Large-scale systems; Robotic systems; NEURAL-NETWORK APPROXIMATIONS; MANIPULATORS;
D O I：
10.1016/j.automatica.2008.06.005
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we develop a decentralized neural network control design for robotic systems. Using this design, it is not necessary to derive the robotic dynamical system (robotic model) for the control of each of the robotic components, as in traditional robot control. The advantage of the proposed neural network controller is that, under a mild assumption, unknown nonlinear dynamics such as inertia matrix and Coriolis/centripetal matrix and friction, as well as interconnections with arbitrary nonlinear bounds can be accommodated with on-line learning. (C) 2008 Elsevier Ltd. All rights reserved.
引用
收藏
页码：161 / 166
页数：6
相关论文
共 50 条
  • [1] Decentralized adaptive controller design for uncertain large-scale time-delay systems
    Xu, Jianqiang
    Chen, Shuzhong
    ISDA 2006: SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS DESIGN AND APPLICATIONS, VOL 2, 2006, : 173 - +
  • [2] Decentralized Adaptive Controller Design for Large-Scale Power Systems
    Chen, Jiaqi
    Huang, Ran
    Zhang, Jinhui
    Lin, Zhongwei
    2015 CHINESE AUTOMATION CONGRESS (CAC), 2015, : 1377 - 1382
  • [3] Decentralized adaptive controller design for large-scale power systems
    Huang, Ran
    Zhang, Jinhui
    Lin, Zhongwei
    AUTOMATICA, 2017, 79 : 93 - 100
  • [4] Decentralized robust adaptive fuzzy controller for large-scale nonlinear uncertain systems
    Chiang, CC
    Wang, WH
    PROCEEDINGS OF THE 12TH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1 AND 2, 2003, : 436 - 440
  • [5] Decentralized adaptive fuzzy sliding-mode controller design for large-scale nonlinear uncertain systems
    Chiang, CC
    Kuo, ZH
    Tung, TC
    10TH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3: MEETING THE GRAND CHALLENGE: MACHINES THAT SERVE PEOPLE, 2001, : 732 - 735
  • [6] Decentralized adaptive fuzzy controller design for uncertain large-scale systems with unknown dead-zone
    Chiang, Chiang-Cheng
    Lu, Wen-Hsien
    2007 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-4, 2007, : 357 - 362
  • [7] Decentralized robust controller design for uncertain large-scale systems with control delays
    Cheng, CW
    Wu, Q
    Thornton-Trump, A
    INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2001, 32 (01) : 33 - 41
  • [8] A decentralized model reference adaptive controller for large-scale systems
    Pagilla, Prabhakar R.
    Dwivedula, Ramarnurthy V.
    Siraskar, Nilesh B.
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2007, 12 (02) : 154 - 163
  • [9] Non-fragile Robust Decentralized Controller design for Uncertain Singular Large-scale Systems
    Shi Guodong
    Wang Qihong
    Wo Songlin
    Xiao Hao
    2011 30TH CHINESE CONTROL CONFERENCE (CCC), 2011, : 6457 - 6462
  • [10] DECENTRALIZED CONTROLLER DESIGN FOR LARGE-SCALE UNCERTAIN LINEAR SYSTEMS WITH NO BLOCK DIAGONAL OUTPUT MATRIX
    Vesely, Vojtech
    Korosi, Ladislav
    INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2023, 19 (04): : 1323 - 1336
12345