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Robust Tracking Control of a Flexible Joint Robot System using a CMAC Neural Network Disturbance Observer  

김은태 (연세대학교 전기전자공학부)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.40, no.5, 2003 , pp. 299-307 More about this Journal
Abstract
The local structure of CMAC neural networks (NN) results in better and faster controllers for nonlinear dynamical systems. In this paper, we propose a CMAC NN-based disturbance observer and its corresponding controller for a flexible joint robot. The CMAC NN-based disturbance observer compensates for the parametric uncertainties and the external disturbances throughout the entire mechanical system. Finally, a simulation result is given to demonstrate the effectiveness of proposed design method's robust tracking performance.
Keywords
CMAC 신경망;유연관절;피드백선형화;
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