TY - GEN
T1 - A parallel controller design and simulation for industry robot
AU - Tian, Dapeng
AU - Wu, Yunjie
AU - Liu, Youmin
PY - 2008
Y1 - 2008
N2 - A parallel controller was designed in order to realize an industry robot steady control performance. On the base of robust backstepping technique, a method for parallel control of robust backstepping and CMAC neural network was proposed for industry robot. It consisted of a robust controller designed through backstepping method and a CMAC controller. The backstepping controller was designed through robot model. However, there were parameters uncertainties and disturbance in the system. The backstepping controller can overcome the plant uncertainties and ensure the robust stability of system. And in order to assure the performance of system, a CMAC neural network is used to offset the disturbance and perturbation and improve the tracking precision. Simulation experiment shown that the method could give a good performance, even though there were disturbance and perturbation.
AB - A parallel controller was designed in order to realize an industry robot steady control performance. On the base of robust backstepping technique, a method for parallel control of robust backstepping and CMAC neural network was proposed for industry robot. It consisted of a robust controller designed through backstepping method and a CMAC controller. The backstepping controller was designed through robot model. However, there were parameters uncertainties and disturbance in the system. The backstepping controller can overcome the plant uncertainties and ensure the robust stability of system. And in order to assure the performance of system, a CMAC neural network is used to offset the disturbance and perturbation and improve the tracking precision. Simulation experiment shown that the method could give a good performance, even though there were disturbance and perturbation.
UR - https://www.scopus.com/pages/publications/58049172058
U2 - 10.1109/ASC-ICSC.2008.4675499
DO - 10.1109/ASC-ICSC.2008.4675499
M3 - 会议稿件
AN - SCOPUS:58049172058
SN - 9781424417872
T3 - 2008 Asia Simulation Conference - 7th International Conference on System Simulation and Scientific Computing, ICSC 2008
SP - 936
EP - 939
BT - 2008 Asia Simulation Conference - 7th International Conference on System Simulation and Scientific Computing, ICSC 2008
T2 - 2008 Asia Simulation Conference - 7th International Conference on System Simulation and Scientific Computing, ICSC 2008
Y2 - 10 October 2008 through 12 October 2008
ER -