Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach

Seyed Ehsan Shafiei; Mohammad Reza Soltanpour

doi:10.5772/7239

journal article Dec 01, 2009

Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach

Seyed Ehsan Shafiei Mohammad Reza Soltanpour

International Journal of Advanced Robotic Systems Vol. 6 No. 4 · SAGE Publications

View at Publisher Save 10.5772/7239

Abstract

A novel approach to neural network based tracking-control of robot manipulator including actuator dynamics is proposed by using of backstepping method. A simple two-step backstepping is considered for an n-link robotic system, and a feedforward neural controller is designed at second step where structured and unstructured uncertainties in robot dynamics and actuator model are approximated by this neural controller. Bounds of network reconstruction error and other imprecisions are estimated adaptively and for compensating them, a robust control signal is added and modified. Stability analysis is performed by the Lyapunov direct method and performance efficiency of the proposed controller is justified by the simulations.

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Metrics

14

Citations

22

References

Details

Published: Dec 01, 2009
Vol/Issue: 6(4)
License: View

Authors

S

Seyed Ehsan Shafiei

M

Mohammad Reza Soltanpour

Department of Electrical Engineering, Shahid Sattari Aeronautical University of Science and Technology, Tehran, Iran

Cite This Article

Seyed Ehsan Shafiei, Mohammad Reza Soltanpour (2009). Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach. International Journal of Advanced Robotic Systems, 6(4). https://doi.org/10.5772/7239

Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach

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