TY - GEN
T1 - Stochastic neural network control of rigid robot manipulator with passive last joint
AU - Li, Jing
AU - Yang, Chenguang
AU - Culverhouse, Phil
AU - Ma, Hongbin
PY - 2012
Y1 - 2012
N2 - Stochastic adaptive control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. Aiming at shaping the controlled manipulators dynamics to be of minimized motion tracking errors and joint accelerations, we employ the linear quadratic regulation (LQR) optimization technique to obtain an optimal reference model. Adaptive neural network (NN) control has been developed to ensure the reference model can be matched in finite time, in the presence of various uncertainties and stochastic noise. In addition, due to the stochastic noise, we transform the system equation to the Ito stochastic differential equation (SDE) form and then use the Ito formula to deal with the stochastic terms of the systems. Simulation studies show the effectiveness of the planned trajectory and the feedback control laws.
AB - Stochastic adaptive control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. Aiming at shaping the controlled manipulators dynamics to be of minimized motion tracking errors and joint accelerations, we employ the linear quadratic regulation (LQR) optimization technique to obtain an optimal reference model. Adaptive neural network (NN) control has been developed to ensure the reference model can be matched in finite time, in the presence of various uncertainties and stochastic noise. In addition, due to the stochastic noise, we transform the system equation to the Ito stochastic differential equation (SDE) form and then use the Ito formula to deal with the stochastic terms of the systems. Simulation studies show the effectiveness of the planned trajectory and the feedback control laws.
KW - LQR
KW - Stochastic NN control
KW - model reference control
KW - optimization
UR - http://www.scopus.com/inward/record.url?scp=84869464969&partnerID=8YFLogxK
U2 - 10.1109/CONTROL.2012.6334708
DO - 10.1109/CONTROL.2012.6334708
M3 - Conference contribution
AN - SCOPUS:84869464969
SN - 9781467315609
T3 - Proceedings of the 2012 UKACC International Conference on Control, CONTROL 2012
SP - 662
EP - 667
BT - Proceedings of the 2012 UKACC International Conference on Control, CONTROL 2012
T2 - 2012 UKACC International Conference on Control, CONTROL 2012
Y2 - 3 September 2012 through 5 September 2012
ER -