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

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...

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Bibliographic Details
Main Authors: Zainul Azlan, Norsinnira, Yamaura, Hiroshi
Format: Conference or Workshop Item
Language:English
Published: 2009
Subjects:
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/45440/
http://irep.iium.edu.my/45440/
http://irep.iium.edu.my/45440/1/45440.pdf
id iium-45440
recordtype eprints
spelling iium-454402015-11-23T07:38:39Z http://irep.iium.edu.my/45440/ Feedback error learning control for underactuated acrobat robot with radial basis funtion based FIR filter Zainul Azlan, Norsinnira Yamaura, Hiroshi TJ212 Control engineering 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. 2009 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/45440/1/45440.pdf 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. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4803980&tag=1
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Zainul Azlan, Norsinnira
Yamaura, Hiroshi
Feedback error learning control for underactuated acrobat robot with radial basis funtion based FIR filter
description 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.
format Conference or Workshop Item
author Zainul Azlan, Norsinnira
Yamaura, Hiroshi
author_facet Zainul Azlan, Norsinnira
Yamaura, Hiroshi
author_sort Zainul Azlan, Norsinnira
title Feedback error learning control for underactuated acrobat robot with radial basis funtion based FIR filter
title_short Feedback error learning control for underactuated acrobat robot with radial basis funtion based FIR filter
title_full Feedback error learning control for underactuated acrobat robot with radial basis funtion based FIR filter
title_fullStr Feedback error learning control for underactuated acrobat robot with radial basis funtion based FIR filter
title_full_unstemmed Feedback error learning control for underactuated acrobat robot with radial basis funtion based FIR filter
title_sort feedback error learning control for underactuated acrobat robot with radial basis funtion based fir filter
publishDate 2009
url http://irep.iium.edu.my/45440/
http://irep.iium.edu.my/45440/
http://irep.iium.edu.my/45440/1/45440.pdf
first_indexed 2023-09-18T21:04:40Z
last_indexed 2023-09-18T21:04:40Z
_version_ 1777410853771935744

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