| dc.contributor.author | Karimi, Hamid Reza | |
| dc.date.accessioned | 2012-02-06T12:48:42Z | |
| dc.date.available | 2012-02-06T12:48:42Z | |
| dc.date.issued | 2011 | |
| dc.identifier.isbn | 978-3-642-25485-7 | |
| dc.identifier.uri | http://hdl.handle.net/11250/136843 | |
| dc.description | Published version of a chapter in the book: Intelligent Robotics and Applications. Also available from the publisher at; http://dx.doi.org/10.1007/978-3-642-25489-5_39 | no_NO |
| dc.description.abstract | In this paper, a wavelet-based adaptive control is proposed for a class of robotic manipulators, which consist of nonlinearities for friction effects and uncertain terms as disturbances. The controller is calculated by using a mixed of feedback linearization technique, supervisory control and H∞ control. In addition, the parameter adaptive laws of the wavelet network are developed using a Lyapunov-based design. It is also shown that both system tracking stability and convergence of the error estimation can be guaranteed in the closed-loop system. Simulation results on a three-link robot manipulator show the satisfactory performance of the proposed control schemes even in the presence of large modeling uncertainties and external disturbances. | no_NO |
| dc.language.iso | eng | no_NO |
| dc.publisher | Springer | no_NO |
| dc.relation.ispartofseries | Lecture Notes in Computer Science;7102 | |
| dc.subject | wavelet networks, robotic maniplulators, adaptive control | no_NO |
| dc.title | Application of wavelet networks to adaptive control of robotic manipulators | no_NO |
| dc.type | Chapter | no_NO |
| dc.type | Peer reviewed | no_NO |
| dc.subject.nsi | VDP::Mathematics and natural science: 400::Mathematics: 410::Applied mathematics: 413 | no_NO |
| dc.subject.nsi | VDP::Technology: 500::Mechanical engineering: 570 | no_NO |
| dc.source.pagenumber | 401-411 | no_NO |
