Title :
The control method of adaptive backstepping and neural network in the application of a parallel robot
Author :
Gao, Guoqin ; Yan, Qin ; Wu, Yanzhong
Author_Institution :
Sch. of Electr. & Inf. Eng., Jiangsu Univ., Zhenjiang, China
Abstract :
Considering the unknown nonlinearities and external disturbances for a 2-DOF redundant parallel robot, a novel control method based on adaptive backstepping control and neural network approximation is proposed. In the controller, a RBF NN is used to approximate the uncertain function in order to make the adaptive backstepping control have a strong robustness for the unknown nonlinearities and external disturbances. The simulation results show that the control method has a good performance of tracking and a strong robustness, which can improve the control performance of a parallel robot with a strong coupling and high non-linearity. They also confirm the correctness and effectiveness of the proposed control strategy.
Keywords :
adaptive control; control nonlinearities; manipulators; radial basis function networks; robust control; 2-DOF redundant parallel robot; RBF NN; adaptive backstepping control method; neural network approximation; nonlinearities; robustness; Adaptive systems; Approximation methods; Artificial neural networks; Backstepping; Control systems; Mathematical model; Parallel robots; Parallel robot; RBF; backstepping; robustness;
Conference_Titel :
Natural Computation (ICNC), 2010 Sixth International Conference on
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-5958-2
DOI :
10.1109/ICNC.2010.5582540
