Mobile QR Code QR CODE : The Transactions of the Korean Institute of Electrical Engineers
Title Neuro-Adaptive Control of Robot Manipulator Using RBFN
Authors 김정대 ; 이민중 ; 최영규 ; 김성신
Page pp.38-44
ISSN 1975-8359
Keywords Adaptive Control ; Radial Basis Function Network ; Ultimately Bounded
Abstract This paper investigates the direct adaptive control of nonlinear systems using RBFN(radial basis function networks). The structure of the controller consists of a fixed PD controller and a RBFN controller in parallel. An adaptation law for the parameters of RBFN is developed based on the Lyapunov stability theory to guarantee the stability of the overall control system. The filtered tracking error between the system output and the desired output is shown to be UUB(uniformly ultimately bounded). To evaluate the performance of the controller, the proposed method is applied to the trajectory contro of the two-link manipulator.