{"title":"二自由度机器人的连续时间分散小波神经控制","authors":"Luis A. Vázquez, F. Jurado","doi":"10.1109/ICEEE.2014.6978295","DOIUrl":null,"url":null,"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.","PeriodicalId":6661,"journal":{"name":"2014 11th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"12 1","pages":"1-6"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Continuous-time decentralized wavelet neural control for a 2 DOF robot manipulator\",\"authors\":\"Luis A. Vázquez, F. Jurado\",\"doi\":\"10.1109/ICEEE.2014.6978295\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":6661,\"journal\":{\"name\":\"2014 11th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)\",\"volume\":\"12 1\",\"pages\":\"1-6\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-12-08\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 11th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICEEE.2014.6978295\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 11th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICEEE.2014.6978295","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Continuous-time decentralized wavelet neural control for a 2 DOF robot manipulator
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.
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