Title :
A new stable tracking control scheme for robotic manipulators
Author_Institution :
Sch. of Electr. Eng., New South Wales Univ., Kensington, NSW, Australia
fDate :
6/1/1997 12:00:00 AM
Abstract :
The paper considers tracking control of robots in joint space. A new control algorithm is proposed based on the well known computed torque method and a compensating controller. The compensating controller is realized by using a switch type structure and an RBF neural network. It is shown that stability of the closed loop system and better tracking performance can be established based on Lyapunov theory. Simulation results are also provided to support our analysis
Keywords :
Lyapunov methods; closed loop systems; feedforward neural nets; neurocontrollers; path planning; position control; tracking; Lyapunov theory; RBF neural network; closed loop system; compensating controller; computed torque method; control algorithm; joint space; robotic manipulators; stable tracking control scheme; switch type structure; tracking performance; Closed loop systems; Computational modeling; Manipulators; Neural networks; Orbital robotics; Robot control; Stability; Switches; Torque control; Tracking loops;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/3477.584957
