대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

벡스테핑 기법 기반 자기 회귀 웨이블릿 신경 회로망을 이용한 로봇 시스템의 강인 제어

Robust Control of the Robotic Systems Using Self Recurrent Wavelet Neural Network via Backstepping Design Technique

  • 유성진 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자공학부) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Yoo, Sung-Jin (Dept. of Electrical & Electronic Engineering, Yonsei University) ;
  • Choi, Yoon-Ho (School of Electronic Engineering, Kyongggi University) ;
  • Park, Jin-Bae (Dept. of Electrical & Electronic Engineering, Yonsei University)
  • 발행 : 2005.07.18
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초록

This paper presents the tracking control method of robotic systems with uncertainties using self recurrent wavelet neural network (SRWNN) via the backstepping design technique. The SRWNN is used as the uncertainty observer of the robotic systems. The adaptation laws for weights of the robotic systems are induced from the Lyapunov stability theorem, which are used for on-line controlling robotic systems. Computer simulations of a three-link robot manipulator with uncertainties verify the validity of the proposed SRWNN controller.

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