Application of wavelet networks to adaptive control of robotic manipulators

Published version of a chapter in the book: Intelligent Robotics and Applications. Also available from the publisher at; http://dx.doi.org/10.1007/978-3-642-25489-5_39In this paper, a wavelet-based adaptive control is proposed for a class of robotic manipulators, which consist of nonlinearities for friction effects and uncertain terms as disturbances. The controller is calculated by using a mixed of feedback linearization technique, supervisory control and H∞ control. In addition, the parameter adaptive laws of the wavelet network are developed using a Lyapunov-based design. It is also shown that both system tracking stability and convergence of the error estimation can be guaranteed in the closed-loop system. Simulation results on a three-link robot manipulator show the satisfactory performance of the proposed control schemes even in the presence of large modeling uncertainties and external disturbances

Application of Wavelet Networks to Adaptive Control of Robotic Manipulators

Published version of a chapter in the book: Intelligent Robotics and Applications. Also available from the publisher at; http://dx.doi.org/10.1007/978-3-642-25489-5_39In this paper, a wavelet-based adaptive control is proposed for a class of robotic manipulators, which consist of nonlinearities for friction effects and uncertain terms as disturbances. The controller is calculated by using a mixed of feedback linearization technique, supervisory control and H∞ control. In addition, the parameter adaptive laws of the wavelet network are developed using a Lyapunov-based design. It is also shown that both system tracking stability and convergence of the error estimation can be guaranteed in the closed-loop system. Simulation results on a three-link robot manipulator show the satisfactory performance of the proposed control schemes even in the presence of large modeling uncertainties and external disturbances