Self-Structured Organizing Single-Input CMAC Control for De-icing Robot Manipulator

• 作者: Thanhquyen Ngo Yaonan Wang Youhui Chen Zan Xiao
• 来源期刊: 智能控制与自动化(英文)
• 学科: 工学
• 关键词: CEREBELLAR Model ARTICULATION Controller (CMAC) DE-ICING Robot MANIPULATOR Gradient-Descent Method SELF-ORGANIZING Signed Distance
• 年，卷（期）: 2011,（3）
• 页码范围: 241-250
• 页数: 10页
• 分类号: TP2

摘要

This paper presents a self-structured organizing single-input control system based on differentiable cerebellar model articulation controller (CMAC) for an n-link robot manipulator to achieve the high-precision position tracking. In the proposed scheme, the single-input CMAC controller is solely used to control the plant, so the input space dimension of CMAC can be simplified and no conventional controller is needed. The structure of single-input CMAC will also be self-organized;that is, the layers of single-input CMAC will grow or prune systematically and their receptive functions can be automatically adjusted. The online tuning laws of single-input CMAC parameters are derived in gradient-descent learning method and the discrete-type Lyapunov function is applied to determine the learning rates of the proposed control system so that the stability of the system can be guaranteed. The simulation results of three-link De-icing robot manipulator are provided to verify the effectiveness of the proposed control methodology.