%0 Journal Article
%T Velocity-observer-based compensator for motion control of a reconfigurable manipulator<br>基于速度观测模型的可重构机械臂补偿控制
%A LI Ying
%A ZHU Ming-chao
%A LI Yuan-chun
%A <br>李 英
%A 朱明超
%A 李元春
%J 控制理论与应用
%D 2008
%I 
%X Parameter uncertainty and noise disturbance are unavoidable in the reconfigurable manipulator systems. To deal with this problem, we propose a velocity-observer-based neurofuzzy compensating control scheme. The update laws on weight, center and width-reciprocal of the membership function in the radial-basis-function-based (RBF) neurofuzzy are given by Lyapunov theorem. The proposed algorithm is proved to be ultimately uniformly bounded (UUB). The controller for a RRP (revolute- revolute- prismatic) reconfigurable manipulator is simulated and discussed. Simulation results show that the proposed algorithm is effective and satisfactory in tracking performance. Finally, simulation comparison between the velocity-observer-based RBF and the proposed neurofuzzy compensator is conducted and analyzed. Advantages and disadvantages for them are given.
%K velocity measure model
%K neurofuzzy
%K RBF neural network
%K compensating control
%K reconfigurable manipulator<br>速度观测模型
%K 模糊神经网络
%K RBF神经网络
%K 补偿控制
%K 可重构机械臂
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=144C752A291653F792CD8CE059167496&yid=67289AFF6305E306&vid=C5154311167311FE&iid=94C357A881DFC066&sid=412FA1328E0CB9E9&eid=547650636788ED84&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=2&reference_num=10