Control of Robot Manipulators Based on Legendre Orthogonal Neural Network

Control of Robot Manipulators Based on Legendre Orthogonal Neural Network

In this paper, Legendre orthogonal functions neural network is used to achieve the control of nonlinear systems. The adaptive controller is constructed by using Legendre orthogonal functions neural network. The adaptive learning law of orthogonal neural network is derived to guarantee that the adapt...

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Veröffentlicht in:Applied Mechanics and Materials 2013-09, Vol.427-429 (Mechanical Engineering, Industrial Electronics and Information Technology Applications in Industry), p.1089-1092
1. Verfasser: Wang, Pei Feng
Format: Artikel
Sprache:eng
Schlagworte:
Adaptive control systems
Computer simulation
Dynamical systems
Neural networks
Orthogonal functions
Robot control
Robots
Tracking errors
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Zusammenfassung:In this paper, Legendre orthogonal functions neural network is used to achieve the control of nonlinear systems. The adaptive controller is constructed by using Legendre orthogonal functions neural network. The adaptive learning law of orthogonal neural network is derived to guarantee that the adaptive weight errors and tracking errors are bound by using Lyapunov stability theory. Simulation results are given for a two-link robot, and the control scheme is validated.
ISSN:1660-9336
1662-7482
1662-7482
DOI:10.4028/www.scientific.net/AMM.427-429.1089