Title :
Nonlinear adaptive RBFNN control of a one-link flexible manipulator
Author :
Maouche, Amin Riad ; Attari, Mokhtar
Author_Institution :
Lab. of Instrum., Houari Boumedien Univ., Algiers, Algeria
Abstract :
This paper describes a hybrid approach to the problem of controlling flexible link manipulators in the face of both structured and unstructured uncertainties. First, a nonlinear controller based on the equations of motion of the robot is elaborated. Its aim is to produce a stable control. Then, an adaptive RBF neural controller is implemented to compensate structured and unstructured uncertainties. Efficiency of the new controller obtained by combining the two control laws is tested facing an important variation of the dynamic parameters of the flexible manipulator and compared to a classical nonlinear controller. Simulation results show the effectiveness of the proposed control strategy.
Keywords :
adaptive control; flexible manipulators; neurocontrollers; nonlinear control systems; radial basis function networks; uncertain systems; nonlinear adaptive RBFNN control; one-link flexible manipulator; robot motion equation; unstructured uncertainties; Adaptation model; Artificial neural networks; Manipulator dynamics; Mathematical model; Torque; Trajectory; Adaptive control; RBF neural network; flexible-link manipulator; nonlinear control;
Conference_Titel :
Machine and Web Intelligence (ICMWI), 2010 International Conference on
Conference_Location :
Algiers
Print_ISBN :
978-1-4244-8608-3
DOI :
10.1109/ICMWI.2010.5647944
