Title :
Robust Adaptive Neural Network Control of Uncertain Rheonomically Constrained Manipulators
Author :
Cao, Xiaotao ; Li, Yuanchun
Author_Institution :
Dept. of Control Sci. & Eng., Jilin Univ., Changchun
Abstract :
In the presence of uncertain robot model and external disturbance, the robust adaptive neural network position/force control of manipulators constrained on time- varying surfaces is developed in this paper. Firstly, a reduced dynamic model is proposed through a nonlinear transformation by some assumptions. Then, by introducing a new variable, the time-varying differential-algebraic reduced dynamic model is transformed into a nonlinear system. After that, two neural network systems are designed to approximate two nonlinear functions by virtue of the ability in approximating an arbitrary nonlinear function. And also, parameter adaptive laws and robust control terms are given to guarantee the stability of the closed-loop system. Finally, simulation results are conducted to demonstrate the effectiveness of the proposed controller.
Keywords :
adaptive control; closed loop systems; control system synthesis; differential algebraic equations; force control; function approximation; manipulator dynamics; neurocontrollers; nonlinear control systems; nonlinear functions; position control; robust control; time-varying systems; uncertain systems; closed-loop system; external disturbance; force control; nonlinear function approximation; nonlinear system; position control; robust adaptive neural network control design; stability; time-varying differential-algebraic reduced dynamic model; uncertain rheonomically constrained manipulator dynamics; Adaptive control; Adaptive systems; Force control; Manipulator dynamics; Neural networks; Nonlinear dynamical systems; Programmable control; Robots; Robust control; Time varying systems; adaptive control; constrained manipulator; neural network control; position/force control; robust control;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340306