Intelligent control of a two-link flexible-joint robot, using backstepping, neural networks, and direct method

被引：0

作者：

Chatlatangulchai, W ^{[1
]}

Meckl, PH ^{[1
]}

机构：

[1] Purdue Univ, Sch Mech Engn, W Lafayette, IN 47907 USA

来源：

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年

关键词：

flexible-joini robot; intelligent control; backstepping; valuable stnicture control;

D O I：

10.1109/IROS.2005.1545418

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We present a state-feedback control of a two-link flexible-joint robot. First, we obtain desired control laws from Lyapunov's second method. Then, we use three-layer neural networks to learn unknown parts of the desired control laws. In this way, the control algorithm does not require the mathematical model representing the robot. We use smooth variable structure controller to handle the uncertainties from neural network approximation and external disturbances. To show the effectiveness and practicality of this control algorithm, we performed an experiment on one of the robots in our laboratory.

引用

页码：2912 / 2917

页数：6

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