Adaptive Control Algorithm With WFN Compensator

ZHANG Kun, CHEN Wen-kai. Adaptive Control Algorithm With WFN Compensator[J]. Journal of Beijing University of Technology, 2003, 29(1): 23-26.

Citation:

ZHANG Kun, CHEN Wen-kai. Adaptive Control Algorithm With WFN Compensator[J]. Journal of Beijing University of Technology, 2003, 29(1): 23-26.

Citation:

ZHANG Kun, CHEN Wen-kai. Adaptive Control Algorithm With WFN Compensator[J]. Journal of Beijing University of Technology, 2003, 29(1): 23-26.

Abstract

An adaptive moment control algorithm based on wavelet fuzzy net (WFN) is presented.The structure of this control method can be considered as the combination of a feed forward type computation moment controller and a WFN model compensator.According to the known robot model,the common moment algorithm is used to calculate feed forward control moment.The compensation moment resulted from controller computation is overlapped on the feed forward control moment to compensate the indefinite dynamic parameter.

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