Abstract
This paper proposes a novel control scheme with focus on the-uncertainty of the complex robot system, which combine cascaded Cerebellar Model Articulation Controller (CMAC) with Variable Structure Control (VSC). Firstly, a improved CMAC is used to learn the uncertainty of robot system, and it is used as a feed-forward compensator, fast tracking error convergence and better learning stability is obtained through use cascaded CMAC. Then, a VSC term is used to reduce the effect of CMAC estimate error and unrepeatable disturbances. The control law is chose based on Lyapunov direct method. Simulation of 6-6 parallel manipulator trajectory tracking show the good stability and accuracy are obtained.
| Original language | English |
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| Pages | 1939-1943 |
| Number of pages | 5 |
| Publication status | Published - 2002 |
| Externally published | Yes |
| Event | Proceedings of the 4th World Congress on Intelligent Control and Automation - Shanghai, China Duration: 10 Jun 2002 → 14 Jun 2002 |
Conference
| Conference | Proceedings of the 4th World Congress on Intelligent Control and Automation |
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| Country/Territory | China |
| City | Shanghai |
| Period | 10/06/02 → 14/06/02 |