Title: Tracking control of robot manipulators based on orthogonal neural network

Authors: Hongwei Wang, Shuanghe Yu

Addresses: School of Electronic and Information Engineering, Dalian University of Technology, Dalian, 116024, China. ' School of Information Science and Technology, Dalian Maritime University, Dalian, 116026, China

Abstract: A robust adaptive control based on orthogonal neural network (ONN) is presented for robot manipulators in this paper. The adaptive controller constructed by Legendre orthogonal function neural network has some advantages such as simple structure and fast convergence speed. The adaptive learning law of orthogonal neural network is derived to guarantee that the adaptive weight errors and tracking errors are bounded by using Lyapunov stability theory. Simulation results on a two-link robot manipulator validate the control scheme.

Keywords: orthogonal neural networks; Legendre orthogonal functions; Lyapunov stability theory; robot manipulators; tracking control; robot control; robust control; adaptive control; robot simulation.

DOI: 10.1504/IJMIC.2010.035288

International Journal of Modelling, Identification and Control, 2010 Vol.11 No.1/2, pp.130 - 135

Published online: 20 Sep 2010 *

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