Self-Structured Organizing Single-Input CMAC Control for Robot Manipulator
[摘要] This paper represents 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 proposed control system so that the stability of the system can be guaranteed. The simulation results of robot manipulator are provided to verify the effectiveness of the proposed control methodology.
[发布日期] [发布机构]
[效力级别] [学科分类] 自动化工程
[关键词] Cerebellar model articulation controller (CMAC);robot manipulator;gradient-descent method;self-organizing;signed distance [时效性]