REAL-TIME LEARNING CONTROLLER DESIGN FOR A TWO-LINK ROBOTIC ARM

摘要：

In this paper, a real-time learning control method involving the proportional-derivative controller and cerebellar model articulation controller (CMAC) is proposed.A feed-forward compensation using CMAC is proposed to learn and control the uncertain system dynamics with unknown but bounded nonlinearities.A priori knowledge of the system parameter values is not required.An application of robotic arm control system is carried out to demonstrate the effectiveness and robustness of the control method.

关键词： Cerebellar model articulation controller Manipulators Proportional-derivative controller Uncertain systems

作者: TZU-CHUN KUO YING-JEH HUANG CHIN-YUN WANG

作者单位: Department of Electrical Engineering, Chin Yun Unversity, Chungli, Taiwan Department of Electrical Engineering, Yuan Ze Unversity, Chungli, Taiwan

会议类型: 国际会议

会议名称: 2007 International Conference on Machine Learning and Cybernetics(IEEE第六届机器学习与控制论国际会议)

会议地点: 香港

会议语种:英文

页码: 642-646

在线出版日期: 2007-08-19（万方平台首次上网日期，不代表论文的发表时间）