A neural network controller for flexible-link robots
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, cilt.17, sa.4, ss.327-349, 1996 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 17 Sayı: 4
- Basım Tarihi: 1996
- Doi Numarası: 10.1007/bf00571697
- Dergi Adı: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Sayfa Sayıları: ss.327-349
- Yıldız Teknik Üniversitesi Adresli: Hayır
Özet
The object in this paper is to achieve tracking control of a partially unknown flexible-link robot arm. It is shown how to stabilize the internal dynamics by selecting a physically meaningful modified performance output for tracking; this output is the slow portion of the link-tip motions. That is, the tracking requirement is relaxed so that the internal dynamics are controllable through a boundary layer correction. The controller is composed of singular-perturbation based fast control and an outer-loop slow control. The slow subsystem is controlled by a neural network (NN) for feedback linearization, plus a PD outer-loop for tracking, and a robustifying term to assure the closed-loop stability. No off-line learning or training is needed for the NN. Tracking and stability are proven using Lyapunov techniques that yield a novel modified NN weight tuning algorithm.