DocumentCode
1977075
Title
Motion control of two-link flexible-joint robot, using backstepping, neural networks, and indirect method
Author
Chatlatanagulchai, Withit ; Meckl, Peter H.
Author_Institution
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN
fYear
2005
fDate
28-31 Aug. 2005
Firstpage
601
Lastpage
605
Abstract
We present a state-feedback control of a two-link flexible-joint robot. The control algorithm does not require the mathematical model representing the robot. Three-layer neural networks approximate the unknown plant functions. The neural network weights are adapted on-line. We use backstepping control structure together with variable structure control to provide robustness to all uncertainties. We have included experimental results to show the effectiveness of the control algorithm
Keywords
flexible manipulators; manipulator kinematics; motion control; neurocontrollers; robust control; state feedback; variable structure systems; backstepping control structure; indirect method; motion control; neural network; plant function; robustness; state-feedback control; two-link flexible-joint robot; variable structure control; Actuators; Backstepping; Control design; Mathematical model; Motion control; Neural networks; Robots; Robust control; Torque; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location
Toronto, Ont.
Print_ISBN
0-7803-9354-6
Type
conf
DOI
10.1109/CCA.2005.1507192
Filename
1507192
Link To Document