6533b7d6fe1ef96bd1266870

RESEARCH PRODUCT

Application of Wavelet Networks to Adaptive Control of Robotic Manipulators

Hamid Reza Karimi

subject

VDP::Mathematics and natural science: 400::Mathematics: 410::Applied mathematics: 413Lyapunov functionEngineeringAdaptive controlbusiness.industryVDP::Technology: 500::Mechanical engineering: 570Stability (learning theory)Control engineeringwavelet networks robotic maniplulators adaptive controlsymbols.namesakeWaveletSupervisory controlControl theoryConvergence (routing)symbolsFeedback linearizationbusiness

description

Published version of a chapter in the book: Intelligent Robotics and Applications. Also available from the publisher at; http://dx.doi.org/10.1007/978-3-642-25489-5_39 In this paper, a wavelet-based adaptive control is proposed for a class of robotic manipulators, which consist of nonlinearities for friction effects and uncertain terms as disturbances. The controller is calculated by using a mixed of feedback linearization technique, supervisory control and H∞ control. In addition, the parameter adaptive laws of the wavelet network are developed using a Lyapunov-based design. It is also shown that both system tracking stability and convergence of the error estimation can be guaranteed in the closed-loop system. Simulation results on a three-link robot manipulator show the satisfactory performance of the proposed control schemes even in the presence of large modeling uncertainties and external disturbances.

yearjournalcountryeditionlanguage
2011-01-01
https://doi.org/10.1007/978-3-642-25489-5_39