二自由度机器人的连续时间分散小波神经控制

2014 11th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2014-12-08 DOI:10.1109/ICEEE.2014.6978295

Luis A. Vázquez, F. Jurado

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引用次数: 8

摘要

提出了一种分散小波神经控制方案，用于二自由度垂直机器人的轨迹跟踪。提出了一种分散的递归小波一阶神经网络(RWFONN)结构，用于在串并联配置下，利用滤波误差(FE)训练算法在线识别被控对象的动态行为。在RWFONN子系统的基础上，采用回溯法设计了局部神经控制器。通过仿真验证了分散小波神经控制器的性能。

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Continuous-time decentralized wavelet neural control for a 2 DOF robot manipulator

This paper presents a decentralized wavelet neural control scheme for trajectory tracking of a two degrees of freedom (DOF) vertical robot manipulator. A decentralized recurrent wavelet first order neural network (RWFONN) structure is proposed to identify online, in a series-parallel configuration and using the filtered error (FE) training algorithm, the dynamics behavior of the plant. Based on the RWFONN subsystem, a local neural controller is designed via backstepping approach. The performance of the decentralized wavelet neural controller is validated via simulation.

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来源期刊

2014 11th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

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