Feedback error learning control for underactuated acrobat robot with radial basis funtion based FIR filter
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 sequent...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/45440/ http://irep.iium.edu.my/45440/ http://irep.iium.edu.my/45440/1/45440.pdf |
| Summary: | 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. |
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