Multiple model based adaptive control of robotic manipulators

2002 ◽  
Author(s):  
M.K. Ciliz ◽  
K.S. Narendra
Keyword(s):  
Adaptive Control ◽  
Robotic Manipulators ◽  
Multiple Model ◽  
Model Based

scholarly journals Weighted Multiple-Model Neural Network Adaptive Control for Robotic Manipulators with Jumping Parameters

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-12 ◽  
Author(s):  
Jiazhi Li ◽  
Weicun Zhang ◽  
Quanmin Zhu
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Robotic Manipulators ◽  
Adaptive Observer ◽  
Multiple Model ◽  
Neural Network Controller ◽  
The Neural Network ◽  
The Stability

This study addresses the tracking control issue for n-link robotic manipulators with largely jumping parameters. Based on radial basis function neural networks (RBFNNs), we propose weighted multiple-model neural network adaptive control (WMNNAC) approach. To cover the variation ranges of the parameters, different models of robotic are constructed. Then, the corresponding local neural network controller is constructed, in which the neural network has been used to approximate the uncertainty part of the control law, and an adaptive observer is implemented to estimate the true external disturbance. The WMNNAC strategy with improved weighting algorithm is adopted to ensure the tracking performance of the robotic manipulator system when parameters jump largely. Through the Lyapunov stability theory and the method of virtual equivalent system (VES), the stability of the closed-loop system is proved. Finally, the simulation results of a two-link manipulator verify the feasibility and efficiency of the proposed WMNNAC strategy.

Multiple model-based event-triggered adaptive control of a class of discrete-time nonlinear systems

2019 ◽  
Vol 50 (7) ◽  
pp. 1353-1367
Author(s):  
Miao Huang ◽  
Xin Wang ◽  
Zhe-Ming Lu ◽  
Long-Hua Ma ◽  
Ming Xu ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Discrete Time ◽  
Multiple Model ◽  
Model Based ◽  
Event Triggered
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