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Selection of appropriate uniform structures for an adaptive control of robot under environmental interaction
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Resumo(s)
A special approach for the adaptive control of approximately and partially known mechanical systems under unmodeled external dynamic interaction was recently invented and investigated from several aspects. As a combination of the application of uniform structures and co-operating ancillary procedures it overcomes the limitations of classical feedforward neural network-based approaches. Besides being found to be efficient, the method may have room for further improvement due to choosing the best one of the possible simple uniform structures as well as of the way of co-operation between the different ancillary tools. These new aspects are taken into account in the present investigations also including global parameter optimization in an external loop. The results are presented as simulations made for a 2 DOF rotary arm for the simplicity. As a conclusion indication is gained for a newer possibility of global optimization.