Intelligent Control of a Two-Link Flexible-Joint Robot, using Backstepping, RBF Networks, and Direct Method

W. Chatlatanagulchai and P.H. Meckl (USA)

Keywords

Flexiblejoint robot, Intelligent control, Backstepping, Radial basis function networks

Abstract

We present a state-feedback control of a two-link flexible joint robot. First, we obtain desired control laws from Lyapunov’s second method. Then, we use radial basis function networks (RBFN) to learn unknown parts of the desired control laws. In this way, the control algorithm does not require the mathematical model representing the robot. To show the effectiveness and practicality of this control algorithm, we performed an experiment on one of the robots in our laboratory.

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