Title :
Robust tracking control of space robots using fuzzy neural network
Author :
Wang, Changhong ; Feng, Baomin ; Ma, Guangcheng ; Ma, Chuang
Author_Institution :
Res. Center of Space Control & Inertia Technol., Harbin Inst. of Technol., China
Abstract :
This paper proposes for space robots a robust fuzzy neural network (FNN) controller, which does not require linear parameterization necessary for standard adaptive control of fixed-base robot manipulator. With suitable modifications, this FNN tracking controller can achieve high-precision position control. Simulation results of a two-link planar space robot verify the validity of the proposed RFNN controller in the presence of uncertainties.
Keywords :
adaptive control; aerospace robotics; fuzzy control; fuzzy neural nets; manipulators; neurocontrollers; position control; robust control; FNN tracking controller; RFNN controller; adaptive control; fixed-base robot manipulator; fuzzy neural network; linear parameterization; position control; robust tracking control; space robots; uncertainty; Control systems; Fuzzy control; Fuzzy neural networks; Manipulator dynamics; Orbital robotics; Robot control; Robust control; Space missions; Space stations; Space technology; Space robot; fuzzy-neural network; tracking control;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on
Print_ISBN :
0-7803-9355-4
DOI :
10.1109/CIRA.2005.1554274
