Continuous-time decentralized wavelet neural control for a 2 DOF robot manipulator | IEEE Conference Publication | IEEE Xplore

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


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 More

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.
Date of Conference: 29 September 2014 - 03 October 2014
Date Added to IEEE Xplore: 06 December 2014
ISBN Information:
Conference Location: Ciudad del Carmen, Mexico

References

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