Adaptive Neural Network Robust Control for Space Robot with Uncertainty

Zhang Wenhui, Fang Yamin, Ye Xiaoping Ye Xiaoping


The trajectory tracking problems of a class of space robot manipulators with parameters and non-parameters uncertainty are considered. An adaptive robust control algorithm based on neural network is proposed by the paper. Neutral network is used to adaptive learn and compensate the unknown system for parameters uncertainties, the weight adaptive laws are designed by the paper, System stability base on Lyapunov theory is analysised to ensure the convergence of the algorithm. Non-parameters uncertainties are estimated and compensated by robust controller. It is proven that the designed controller can guarantee the asymptotic convergence of tracking error. The controller could guarantee good robust and the stability of closed-loop system. The simulation results show that the presented method is effective.

Full Text:



Patricia Melin, Oscar Castillo. Adaptive intelligent control of aircraft systems with a hybrid approach combining neural networks, fuzzy logic and fractal theory. Applied Soft Computing. 2003; 3(4): 353-362.

Zhang W H, Qi N M, Ma J, et al. Neural integrated control for a free-floating space robot with suddenly changing parameters. Information Sciences. 2011; 54(10): 2091-2099.

Patricia Melin, Oscar Castillo. Intelligent control of a stepping motor drive using an adaptive neuro-fuzzy inference system. Information Sciences. 2005; 170(2-4):133-151.

Feng BM, Ma GC, Xie WN, Wang CH. Design of Intelligent Controller for Space Robot in task space. Journal of Astronautics. 2007; 28(4): 149-154.

Cheah C. C, S. Kawamura, S. A, Lee K. H∞ Tuning for Task-Space Feedback Control of Robot With Uncertain Jacobian Matrix. IEEE Transactions on Automatic Control. 2001; 46(8): 1313-1318.

Chen L. Adaptive and robust composite control of coordinated motion of space robot system with prismatic joint. Proceedings of the 4th world Congress on Intelligent Control and Automation. Shanghai. 2002; 45: 1255-1259.

Zhang Wenhui, Liu Wenyi, Ye Xiaoping. Robust Adaptive Control for Free-floating Space Manipulators Based on Neural Network. Journal of Mechanical Engineering. 2012; 48(21): 36-41.

Wang SD, Lin CK. Adaptive control of robot manipulator using fuzzy compensator. Fuzzy Sets and Systems. 2000; 110(3): 351-363.

Wang CH, Tsai CH, Lin WS. Robust fuzzy model-following control of robot manipulators. IEEE Transactions on Fuzzy Systems. 2000; 8(4): 462-469.

Lin C K. Non-singular terminal sliding model control of robot manipulators using fuzzy wavelet networks. IEEE Transactions on Fuzzy Systems. 2009; 160(12): 1765-1786.

Yoo BK, Ham WC. Adaptive control of robot manipulator using fuzzy compensator. IEEE Transactions on Fuzzy Systems. 2000; 8(2): 186-199.

Karuppanan PitchaiVijaya, KamalaKanta Mahapatra. Adaptive-Fuzzy Controller Based Shunt Active Filter for Power Line Conditioners. TELKOMNIKA. 2011; 9(2): 203-210.

Lin C K. H∞ reinforcement learning control of robot manipulators using fuzzy wavelet networks. Fuzzy Sets and Systems. 2009; 160(12): 1765-1786.

Hong ZD, Yun C, Chen L. Modeling and Trajectory Tracking Control of a Free-Floating Space Robot with Flexible Manipulators. Journal of ROBOT. 2007; 29(1): 92-96.

Lewis FL, Kim YH. Intelligent optimal control of robotic manipulators using neural networks . Automatica. 2000; 36(9): 1355-1364.

Psillakis H E, Alexandridis A T. Adaptive neural motion control of n-link robot manipulators subject to unknown disturbances and stochastic perturbations. IEE Proceeding Control Theory and Applications. 2006; 153(2): 127-138.

Hong ZB, Chen L. Self-learning control of space flexible manipulator base on gauss function fuzzy neural network. Engineering Mechanics. 2008; 29(6): 172-177.

Kim YH, Lewis FL. Neural network output feedback control of robot manipulators .IEEE Transactions on Robotics and Automation. 1999; 15(2): 301-309.

Oscar Castillo, Patricia Melin. Intelligent adaptive model-based control of robotic dynamic systems with a hybrid fuzzy-neural approach. Applied Soft Computing. 2003; 3(4): 363-378.

Xie J, Liu GL, Yan SZ, Xu WF, Qiang WY. Study on neural network adaptive control method for uncertain space manipulator. Journal of Astronautics. 2010; 31(1): 123-129.

Hu H and Woo P Y. Fuzzy supervisory sliding-mode and neural-network control for robotic manipulators. IEEE Transactions on Industrial Electronics. 2006; 53(3): 929-940.


Article Metrics

Abstract view : 208 times
PDF - 188 times


  • There are currently no refbacks.

Copyright (c) 2019 Universitas Ahmad Dahlan

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

TELKOMNIKA Telecommunication, Computing, Electronics and Control
ISSN: 1693-6930, e-ISSN: 2302-9293
Universitas Ahmad Dahlan, 4th Campus, 9th Floor, LPPI Room
Jl. Ringroad Selatan, Kragilan, Tamanan, Banguntapan, Bantul, Yogyakarta, Indonesia 55191
Phone: +62 (274) 563515, 511830, 379418, 371120 ext. 4902, Fax: +62 274 564604