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SVM-Based Control System for a Robot Manipulator
| Content Provider | SAGE Publishing |
|---|---|
| Author | Abdessemed, Foudil |
| Copyright Year | 2012 |
| Abstract | Real systems are usually non-linear, ill-defined, have variable parameters and are subject to external disturbances. Modelling these systems is often an approximation of the physical phenomena involved. However, it is from this approximate system of representation that we propose - in this paper - to build a robust control, in the sense that it must ensure low sensitivity towards parameters, uncertainties, variations and external disturbances. The computed torque method is a well-established robot control technique which takes account of the dynamic coupling between the robot links. However, its main disadvantage lies on the assumption of an exactly known dynamic model which is not realizable in practice. To overcome this issue, we propose the estimation of the dynamics model of the nonlinear system with a machine learning regression method. The output of this regressor is used in conjunction with a PD controller to achieve the tracking trajectory task of a robot manipulator. In cases where some of the parameters of the plant undergo a change in their values, poor performance may result. To cope with this drawback, a fuzzy precompensator is inserted to reinforce the SVM computed torque-based controller and avoid any deterioration. The theory is developed and the simulation results are carried out on a two-degree of freedom robot manipulator to demonstrate the validity of the proposed approach. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/51192?download=true |
| ISSN | 17298806 |
| Issue Number | 6 |
| Volume Number | 9 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/51192 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2012-01-01 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2012 Abdessemed; licensee InTech. |
| Subject Keyword | Fuzzy Precompensator Support Vector Machine (SVM) Two-degree of Freedom Robot Manipulator Inverse Dynamics Control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
