A decentralized adaptive joint neurocontroller

Abstract

A decentralized adaptive joint neurocontroller for an n-joint robot arm is described. The joint neurocontroller consists of a PVA controller (feedforward proportional-velocity-acceleration controller) and a PD controller (feedback position-derivative controller) whose terms are adapted by a recurrent functional link neural networks. It uses positional information only. Simulation studies of a two joint robot arm have shown that this controller is stable and robust. The joint neurocontroller performed as well or better than one current adaptive controller technique and one current nonadaptive controller technique.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>