[1]ZHANG Wenhui,ZHOU Qihang,QI Naiming.Trajectory tracking selfstudy control for flexible space manipulators with fuzzy CMAC[J].CAAI Transactions on Intelligent Systems,2012,7(5):457-461.
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Trajectory tracking selfstudy control for flexible space manipulators with fuzzy CMAC

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 7 Number of periods: 2012 5 Page number: 457-461 Column: 学术论文—智能系统 Public date: 2012-10-25
Title:
Trajectory tracking selfstudy control for flexible space manipulators with fuzzy CMAC
Author(s):
ZHANG Wenhui1;  ZHOU Qihang2 ; QI Naiming2
1. College of Technology, Lishui University, Lishui 323000, China;
2. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
Keywords:
fuzzy CMAC;  inversemodel control;  flexible space robot;  PID control;  trajectory tracking;  Hebb learning rules
CLC:
TP242
DOI:
-
Abstract:
Considering the uncertainty of free floating adaptable space robot systems (FSRS), cerebellar model articulation controller(CMAC) neutral network selflearning control 〖JP3〗strategies are used to solve the trajectory tracking control problems of the inverse model control algorithm. Firstly, a nonlinearity dynamics equation of flexible space manipulator is established. The controller based on fuzzy CMAC neutral network is used for effectively learning how to compensate inversemodel, and fuzzy CMAC network parameters that could be adaptively adjusted online by improved supervisory Hebb learning rules. Error function is provided via proportional integration differential (PID) controller. The controller improved control accuracy and asymptotic convergence of tracking error. The simulation results illustrate the presented controller system has engineering value.〖JP〗
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