Nonlinear neuron control of a direct drive robot

The nonlinear neuron control method is proposed for a direct drive robot in this paper. In this control system, the neuron controller and the relay controller are designed in parallel connection to form the model-free controller to control a direct drive robot with uncertainties. A fuzzy scheme is used to tune the relay controller gain on line. With an example of a direct drive robot manipulator, the experiments are made. The simulation results demonstrate that the proposed method can efficiently control the independent joint of the direct drive robot. This model-free controller has excellent performance, strong robustness and adaptability.