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Stable Neural Network Controller Based Observer for Rigid Robot Manipulators
Boubaker Daâchi and Abdelaziz Benallegue
Laboratoire de Robotique de Versailles 10-12, avenue de l'Europe, 78140 Velizy, France
Received:January 30, 2002Accepted:November 13, 2002Published:February 20, 2003
Keywords:neural networks, adaptive control, observer, robot manipulators
Abstract
We propose a neural network controller using only joint position measurements for rigid robot manipulators. The joint velocity needed for the control law is estimated using an observer based on sliding mode. A decomposed structure neural network approximates the unknown model of the system. Each neural network (MLP) approximates a separate element of the dynamical model. These approximations are used to conduct an adaptive stable control law. The TaylorYoung series was used to solve the nonlinearity problem of the MLP and to lead to the parameters adaptation algorithm. The corresponding parameters are the weights of the neural net. They are updated via the adaptation algorithm derived from stability study of the system in closed loop using the Lyapunov approach and intrinsic properties of robot manipulators. Simulations were conducted to show the conductance of the proposed controller.
Cite this article as:B. Daâchi and A. Benallegue, “Stable Neural Network Controller Based Observer for Rigid Robot Manipulators,” J. Robot. Mechatron., Vol.15 No.1, pp. 77-83, 2003.Data files:
Copyright© 2003 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
