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Feedback error learning control for underactuated acrobat robot with radial basis funtion based FIR filter

Zainul Azlan, Norsinnira and Yamaura, Hiroshi (2009) Feedback error learning control for underactuated acrobat robot with radial basis funtion based FIR filter. In: 4th International Conference on Autonomous Robots and Agents (ICARA 2009), 10th-12th Feb. 2009, Wellington, New Zealand.

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This paper presents a new Feedback Error Learning (FEL) scheme with the application of Radial Basis Function Network (RBFN) based Finite Impulse Response (FIR) filter to control underactuated systems. This method provides a stable feedback controller which is systematically derived from sequential backstepping control procedure. Besides, it also formulates a simple approach for FEL feedforward controller structure by employing the inverse dynamic model of the plant with physical parameters. The RBFN based FIR filter is used in obtaining the estimation of the state variables to produce an ideal feedforward control input. Simulation results on a two link acrobat robot with nonzero initial angular momentum in achieving a final desired posture angle are presented to show the validity of the proposed algorithm.

Item Type: Conference or Workshop Item (Full Paper)
Additional Information: 4494/45440
Uncontrolled Keywords: Keywords-feedback error learning, acrobat robot, underactuated sytem, radial basis function, FIR filter, state estimation.
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Norsinnira Zainul Azlan
Date Deposited: 23 Nov 2015 15:38
Last Modified: 23 Nov 2015 15:38
URI: http://irep.iium.edu.my/id/eprint/45440

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