Robust CMAC control schemes for dynamic trajectory following

Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an

Volumn 25, Issue 3, 2002, Pages 253-264

  Tao, Ted ^a   Lu, Hung Ching ^a   Su, Shun Feng ^b  

^a TATUNG UNIVERSITY   (Taiwan)

^b NATIONAL TAIWAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Taiwan)

Author keywords

CMAC; Credit assignment; Robust

Indexed keywords

COMPUTER SIMULATION; LEARNING SYSTEMS; PARAMETER ESTIMATION; TRAJECTORIES; UNCERTAIN SYSTEMS;

DYNAMIC TRAJECTORIES; TRACING ERROR;

ROBUSTNESS (CONTROL SYSTEMS);

EID: 0036572511     PISSN: 02533839     EISSN: 21587299     Source Type: Journal    
DOI: 10.1080/02533839.2002.9670700     Document Type: Article

References (22)

1. Albus, J. S., 1975. “A New Approach to Manipulator Control:The Cerebellar Model Articulation Controller (CMAC),”. ASME Journal of Dynamic Systems, Measurement, and Control,:220–227.
2. Albus, J. S., 1975. “Data Storage in the Cerebellar Model Articulation Controller (CMAC),”. ASME Journal of Dynamic Systems, Measurement, and Control,:228–233.
3. Ali, F. E. A. F., Nakao, Z., and Chen, Y. W., 1999. “Two New Neural Network Approaches to Two-dimensional CT Image Reconstruction,”. Fuzzy Sets and Systems, 103:295–302.
4. An, C. H., Atkeson, C. G., Griffiths, J. D., and Hollerbach, J. M., “Experimental Evaluation of Feed Forward and Computer Torque Control,”. Proc. of the IEEE International, Conference on Robotics and Automation. pp. 165–168.
5. Berger, C. S., 1994. “Linear Splines with Adaptive Mesh Sizes for Modelling Nonlinear Dynamic Systems,”. IEE Proc.-Control Theory Appl., 141:277–284.
6. Chen, F. C., and Chang, C. H., 1996. “Practical Stability Issues in CMAC Neural Network Control Systems,”. IEEE Trans. on Control Systems Technology, 4:86–91.
7. Dorato, P., 1987. “A History Review of Robust Control,”. IEEE Control System Magazine, 7 (2):44–47.
8. Doyle, J. C., and Stein, G., 1981. “Multivariable Feedback Design:Concepts for a Classical/modern Synthesis,”. IEEE Trans. on Automatic Control, AC-26:4–16.
9. Hong, C. M., Lin, C. H., and Tao, T., 1997. “Grey-CMAC Model,”. Proc. of the ISTED International Conference High Technology in the Power Industry,:39–44.
10. Hsia, T. C., 1986. “Adaptive Control of Robot Manipulators - A Review,”. Proc. of the IEEE International Conference on Robotic and Automation, 1:183–189.
11. Hsia, T. C., 1989. “ A New Technique for Robust Control of Servo Systems”,. IEEE Trans. on Industrial Electronics, 36:1–7.
12. Lin, C. S., and Chiang, C. T., 1997. “Learning Convergence of CMAC,”. IEEE Trans. on Neural Networks, 8:1281–1292.
13. Lin, C. S., and Chiang, C. T., 1998. “Integration of CMAC Technique and Weighted Regression for Efficient Learning and Output Differentiability,”. IEEE Trans. on System, Man, and Cybernetics-Part B:Cybernetics, 28:231–237.
14. Lin, F. J., Hwang, W. J., and Wai, R. J., 1999. “Supervisory Fuzzy Neural Network Control System for Tracking Periodic Inputs,”. IEEE Transactions on Fuzzy Systems, 7:41–52.
15. Luh, J. Y. S., Walker, M. W., and Paul, R. P., 1980. “Resolved-acceleration Control of Mechanical Manipulators,”. IEEE Trans. Automatic Control, AC-25:468–474.
16. Miller, T. S., Hewes, R. P., Glanz, F. J., and Kraft, L. G., 1990. “Real-time Dynamic Control of an Industrial Manipulator Using a Neural-network-based Learning Controller,”. IEEE Trans. on Robotics and Automation, 6:1–9.
17. Patra, J. C., Pal, R. N., Baliarsingh, R., and Panda, G., 1999. “Nonlinear Channel Equalization for QAM Signal Constellation Using Artificial Neural Networks,”. IEEE Transactions on Systems, Man, and Cybernetics, Part B:Cybernetics, 29:262–271.
18. Plantamura, V. L., Soucek, B., and Visaggio, G., 1993. “Holographic Fuzzy Learning for Credit Scoring,”. Proceedings of the International Joint Conference on Neural Networks, 1:729–732.
19. Smalz, R., and Conrad, M., 1994. “Combining Evolution with Credit Apportionment:A New Learning Algorithm for Neural Nets,”. Neural Networks, 7:341–351.
20. Tao, T., 1990. “Robust Controller Applied in Fluid Pressure Servo System,”, Department of Electrical Engineering, Tatung Institute of Technology. Master Thesis
21. Tao, T., and Su, S. F., 1998. “CMAC-Based Online Learning for Robust Controllers,”. Proceeding of R.O.C. Automatic Control Conference,:447–452.
22. Wong, Y. F., and Sideris, A., 1992. “Learning Convergence in the Model Articulation Controller,”. IEEE Trans. on Neural Networks, 3:115–121.