Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach
A novel approach to neural network based tracking-control of robot manipulator including actuator dynamics is proposed by using of backstepping method. A simple two-step backstepping is considered for an n-link robotic system, and a feedforward neural controller is designed at second step where stru...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2009-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/7239 |
| _version_ | 1818328471824236544 |
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| author | Seyed Ehsan Shafiei Mohammad Reza Soltanpour |
| author_facet | Seyed Ehsan Shafiei Mohammad Reza Soltanpour |
| author_sort | Seyed Ehsan Shafiei |
| collection | DOAJ |
| description | A novel approach to neural network based tracking-control of robot manipulator including actuator dynamics is proposed by using of backstepping method. A simple two-step backstepping is considered for an n-link robotic system, and a feedforward neural controller is designed at second step where structured and unstructured uncertainties in robot dynamics and actuator model are approximated by this neural controller. Bounds of network reconstruction error and other imprecisions are estimated adaptively and for compensating them, a robust control signal is added and modified. Stability analysis is performed by the Lyapunov direct method and performance efficiency of the proposed controller is justified by the simulations. |
| first_indexed | 2024-12-13T12:32:42Z |
| format | Article |
| id | doaj.art-eaf075ec6e564893bd693fe2ca4e1290 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-13T12:32:42Z |
| publishDate | 2009-12-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-eaf075ec6e564893bd693fe2ca4e12902022-12-21T23:45:58ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142009-12-01610.5772/723910.5772_7239Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping ApproachSeyed Ehsan ShafieiMohammad Reza SoltanpourA novel approach to neural network based tracking-control of robot manipulator including actuator dynamics is proposed by using of backstepping method. A simple two-step backstepping is considered for an n-link robotic system, and a feedforward neural controller is designed at second step where structured and unstructured uncertainties in robot dynamics and actuator model are approximated by this neural controller. Bounds of network reconstruction error and other imprecisions are estimated adaptively and for compensating them, a robust control signal is added and modified. Stability analysis is performed by the Lyapunov direct method and performance efficiency of the proposed controller is justified by the simulations.https://doi.org/10.5772/7239 |
| spellingShingle | Seyed Ehsan Shafiei Mohammad Reza Soltanpour Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach International Journal of Advanced Robotic Systems |
| title | Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach |
| title_full | Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach |
| title_fullStr | Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach |
| title_full_unstemmed | Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach |
| title_short | Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach |
| title_sort | robust neural network control of electrically driven robot manipulator using backstepping approach |
| url | https://doi.org/10.5772/7239 |
| work_keys_str_mv | AT seyedehsanshafiei robustneuralnetworkcontrolofelectricallydrivenrobotmanipulatorusingbacksteppingapproach AT mohammadrezasoltanpour robustneuralnetworkcontrolofelectricallydrivenrobotmanipulatorusingbacksteppingapproach |