Title :
CMAC based adaptive control of a flexible link 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 CMAC 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; cerebellar model arithmetic computers; compensation; flexible manipulators; motion control; neurocontrollers; nonlinear control systems; stability; uncertain systems; adaptive CMAC neural controller; compensation; flexible link manipulator; nonlinear controller; robot motion; stable control; unstructured uncertainty; Adaptive control; Control systems; Equations; Magnetic materials; Manipulator dynamics; Motion control; Neural networks; Nonlinear control systems; Programmable control; Robots; Adaptive control; CMAC neural network; flexible-link manipulator; nonlinear control;
Conference_Titel :
Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE
Conference_Location :
Porto
Print_ISBN :
978-1-4244-4648-3
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2009.5414718
