Title :
A Diagonal Recurrent CMAC Model Reference Adaptive Control for Parallel Manipulators Trajectory Tracking
Author :
Zhao, Jie ; Liu, Yubin ; Yang, Yonggang
Author_Institution :
Robotics Inst., Harbin Inst. of Technol.
Abstract :
A method for a model reference adaptive control structure using a diagonal recurrent cerebellar model articulation controller (DRCMAC) is proposed to control the parallel manipulators. In order to achieve high-precision position control and guarantee the convergence of tracking error, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning-rate parameters of the DRCMAC. The good stability and accuracy can be obtained because of the powerful on-line learning capability of the DRCMAC. Finally, the effectiveness of the proposed control method is verified by simulation results in the presence of 6-PRRS parallel manipulators
Keywords :
Lyapunov methods; cerebellar model arithmetic computers; learning (artificial intelligence); manipulators; model reference adaptive control systems; neurocontrollers; position control; stability; CMAC model; diagonal recurrent cerebellar model articulation controller; discrete-type Lyapunov function; model reference adaptive control structure; online learning capability; parallel manipulator control; parallel manipulator trajectory tracking; position control; stability; tracking error convergence; Actuators; Adaptive control; Error correction; Fasteners; Kinematics; Manipulator dynamics; Parallel robots; Robust control; Sliding mode control; Trajectory; Nonlinear control.; Parallel manipulators; dialog recurrent cerebellar model articulation controller; model reference adaptive control;
Conference_Titel :
Intelligent Systems Design and Applications, 2006. ISDA '06. Sixth International Conference on
Conference_Location :
Jinan
Print_ISBN :
0-7695-2528-8
DOI :
10.1109/ISDA.2006.253824
