Neural network based compensator for robustness to the robot manipulators with uncertainties

H. P. Singh; N. Sukavanam; Vikas Panwar

doi:10.1109/ICMET.2010.5598400

Neural network based compensator for robustness to the robot manipulators with uncertainties

H. P. Singh
, N. Sukavanam
, Vikas Panwar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

In this paper, neural network based compensator is developed to estimate the bound of structured and unstructured uncertainties in the robot dynamics to provide a adaptive robust controller. Especially, the prior knowledge of the upper bound of the system uncertainties is not required for designing of tracking controller. Lyapunov approach will be used to show that the filtered tracking error and neural network weight error are uniformly ultimately bounded. It is found that the feedforward neural network is effectively able to cope with all uncertainties existing in the robot manipulator. Finally, simulation studies are carried out for a two-link robot manipulator to show the effectiveness of the control scheme.

Original language	English
Title of host publication	ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings
Pages	444-448
Number of pages	5
DOIs	https://doi.org/10.1109/ICMET.2010.5598400
Publication status	Published - 2010
Event	2010 International Conference on Mechanical and Electrical Technology, ICMET 2010 - Singapore, Singapore Duration: 10-09-2010 → 12-09-2010

Publication series

Name	ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings

Conference

Conference	2010 International Conference on Mechanical and Electrical Technology, ICMET 2010
Country/Territory	Singapore
City	Singapore
Period	10-09-10 → 12-09-10

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering
Mechanical Engineering

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10.1109/ICMET.2010.5598400

Cite this

Singh, H. P., Sukavanam, N., & Panwar, V. (2010). Neural network based compensator for robustness to the robot manipulators with uncertainties. In ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings (pp. 444-448). Article 5598400 (ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings). https://doi.org/10.1109/ICMET.2010.5598400

@inproceedings{88bc2079869c432fb53d369e31e9e116,

title = "Neural network based compensator for robustness to the robot manipulators with uncertainties",

abstract = "In this paper, neural network based compensator is developed to estimate the bound of structured and unstructured uncertainties in the robot dynamics to provide a adaptive robust controller. Especially, the prior knowledge of the upper bound of the system uncertainties is not required for designing of tracking controller. Lyapunov approach will be used to show that the filtered tracking error and neural network weight error are uniformly ultimately bounded. It is found that the feedforward neural network is effectively able to cope with all uncertainties existing in the robot manipulator. Finally, simulation studies are carried out for a two-link robot manipulator to show the effectiveness of the control scheme.",

author = "Singh, \{H. P.\} and N. Sukavanam and Vikas Panwar",

year = "2010",

doi = "10.1109/ICMET.2010.5598400",

language = "English",

isbn = "9781424481019",

series = "ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings",

pages = "444--448",

booktitle = "ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings",

note = "2010 International Conference on Mechanical and Electrical Technology, ICMET 2010 ; Conference date: 10-09-2010 Through 12-09-2010",

}

Singh, HP, Sukavanam, N & Panwar, V 2010, Neural network based compensator for robustness to the robot manipulators with uncertainties. in ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings., 5598400, ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings, pp. 444-448, 2010 International Conference on Mechanical and Electrical Technology, ICMET 2010, Singapore, Singapore, 10-09-10. https://doi.org/10.1109/ICMET.2010.5598400

Neural network based compensator for robustness to the robot manipulators with uncertainties. / Singh, H. P.; Sukavanam, N.; Panwar, Vikas.
ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings. 2010. p. 444-448 5598400 (ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Neural network based compensator for robustness to the robot manipulators with uncertainties

AU - Singh, H. P.

AU - Sukavanam, N.

AU - Panwar, Vikas

PY - 2010

Y1 - 2010

N2 - In this paper, neural network based compensator is developed to estimate the bound of structured and unstructured uncertainties in the robot dynamics to provide a adaptive robust controller. Especially, the prior knowledge of the upper bound of the system uncertainties is not required for designing of tracking controller. Lyapunov approach will be used to show that the filtered tracking error and neural network weight error are uniformly ultimately bounded. It is found that the feedforward neural network is effectively able to cope with all uncertainties existing in the robot manipulator. Finally, simulation studies are carried out for a two-link robot manipulator to show the effectiveness of the control scheme.

AB - In this paper, neural network based compensator is developed to estimate the bound of structured and unstructured uncertainties in the robot dynamics to provide a adaptive robust controller. Especially, the prior knowledge of the upper bound of the system uncertainties is not required for designing of tracking controller. Lyapunov approach will be used to show that the filtered tracking error and neural network weight error are uniformly ultimately bounded. It is found that the feedforward neural network is effectively able to cope with all uncertainties existing in the robot manipulator. Finally, simulation studies are carried out for a two-link robot manipulator to show the effectiveness of the control scheme.

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U2 - 10.1109/ICMET.2010.5598400

DO - 10.1109/ICMET.2010.5598400

M3 - Conference contribution

AN - SCOPUS:78649287476

SN - 9781424481019

T3 - ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings

SP - 444

EP - 448

BT - ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings

T2 - 2010 International Conference on Mechanical and Electrical Technology, ICMET 2010

Y2 - 10 September 2010 through 12 September 2010

ER -

Singh HP, Sukavanam N, Panwar V. Neural network based compensator for robustness to the robot manipulators with uncertainties. In ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings. 2010. p. 444-448. 5598400. (ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings). doi: 10.1109/ICMET.2010.5598400

Neural network based compensator for robustness to the robot manipulators with uncertainties

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