Abstract:
This paper presents a decentralized wavelet neural control scheme for trajectory tracking of a two degrees of freedom (DOF) vertical robot manipulator. A decentralized re...Show MoreMetadata
Abstract:
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.
Published in: 2014 11th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)
Date of Conference: 29 September 2014 - 03 October 2014
Date Added to IEEE Xplore: 06 December 2014
ISBN Information: