Manipulator Control Based on Adaptive RBF Network Approximation

With the popularization of intelligent manufacturing, manipulator has found ever wider application in various industries. A requires a real-time and fast control algorithm order to improve accuracy all kinds precise operations. This paper proposes an based on adaptive radial basis function (RBF) for approximating parameters manipulator, equations are designed automatically adjust weight RBF. Proportional integral (PI) robust dynamic error tracking is used controller reduce steady state errors enhance anti-interference performance system. The global asymptotic stability system demonstrated by defining integraltype Lyapunov function. Finally, MATLAB simulate angular positions velocities double joints manipulator. results show that can track ideal output signal quickly accurately good performance.