Control of Robot Manipulators Based on Legendre Orthogonal Neural Network

Pei Feng Wang

doi:10.4028/www.scientific.net/AMM.427-429.1089

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 427-429Control of Robot Manipulators Based on Legendre...

Control of Robot Manipulators Based on Legendre Orthogonal Neural Network

Abstract:

In this paper, Legendre orthogonal functions neural network is used to achieve the control of nonlinear systems. The adaptive controller is constructed by using Legendre orthogonal functions neural network. The adaptive learning law of orthogonal neural network is derived to guarantee that the adaptive weight errors and tracking errors are bound by using Lyapunov stability theory. Simulation results are given for a two-link robot, and the control scheme is validated.

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Periodical:

Applied Mechanics and Materials (Volumes 427-429)

Pages:

1089-1092

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.427-429.1089

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Online since:

September 2013

Authors:

Pei Feng Wang*

Keywords:

Legendre Functions, Orthogonal Neural Network, Two-Link Robot

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* - Corresponding Author

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