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Neuroadaptive control of elastic-joint robots using robust performance enhancement

Published online by Cambridge University Press:  30 October 2001

C.J.B. Macnab  and
G.M.T. D'Eleuterio
C.J.B. Macnab
Affiliation:
University of Toronto Institute for Aerospace Studies, 4925 Dufferin St., Downsview, ON, M3H 5T6 (Canada)
G.M.T. D'Eleuterio
Affiliation:
University of Toronto Institute for Aerospace Studies, 4925 Dufferin St., Downsview, ON, M3H 5T6 (Canada)
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Abstract

A neuroadaptive control scheme for elastic-joint robots is proposed that uses a relatively small neural network. Stability is achieved through standard Lyapunov techniques. For added performance, robust modifications are made to both the control law and the weight update law to compensate for only approximate learning of the dynamics. The estimate of the modeling error used in the robust terms is taken directly from the error of the network in modeling the dynamics at the currant state. The neural network used is the CMAC-RBF Associative Memory (CRAM), which is a modification of Albus's CMAC network and can be used for robots with elastic degrees of freedom. This results in a scheme that is computationally practical and results in good performance.

Keywords

Neuroadaptive controlElastic-joint robotsNeural networkPerformance enhancement
Type
Research Article
Information
Robotica , Volume 19 , Issue 6 , September 2001 , pp. 619 - 629
Copyright
© 2001 Cambridge University Press

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