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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Application of Wavelet Networks to Adaptive Control of Robotic Manipulators
verfasst von : Hamid Reza Karimi
Erschienen in: Intelligent Robotics and Applications
Verlag: Springer Berlin Heidelberg
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In this paper, a wavelet-based adaptive control is proposed for a class of robotic manipulators, which consist of nonlinearities for friction effects and uncertain terms as disturbances. The controller is calculated by using a mixed of feedback linearization technique, supervisory control and H
∞
control. In addition, the parameter adaptive laws of the wavelet network are developed using a Lyapunov-based design. It is also shown that both system tracking stability and convergence of the error estimation can be guaranteed in the closed-loop system. Simulation results on a three-link robot manipulator show the satisfactory performance of the proposed control schemes even in the presence of large modeling uncertainties and external disturbances.