Open AccessAdaptive Robot Control – An Experimental Comparison
Author(s) -
F. Alonge,
Filippo D’Ippolito
Publication year - 2012
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/53731
Subject(s) - computer science , trajectory , artificial neural network , wavelet , scheme (mathematics) , robot , adaptive control , control theory (sociology) , tracking (education) , artificial intelligence , control engineering , control (management) , mathematics , psychology , mathematical analysis , pedagogy , physics , astronomy , engineering
This paper deals with experimental\udcomparison between stable adaptive controllers of robotic manipulators based on Model Based Adaptive,Neural Network and wavelet ‐Based control. The above control methods were compared with each other in terms of computational efficiency, need for accurate mathematical model of the manipulator and tracking performances. An original management algorithm of the Wavelet Network control scheme has been designed, with the aim of constructing the net automatically during the trajectory tracking, without the need to tune it to the trajectory itself. Experimental tests, carried out on a planar two link manipulator, show that the Wavelet‐Based control scheme, with the new management algorithm, outperforms the conventional Model‐Based schemes in the presence of structural uncertainties in the mathematical model of the robot, without pre‐training and more efficiently than the Neural Network approach