An Adaptive Controller Using Wavelet Network for Five-Bar Manipulators with Deadzone Inputs

  • Tien Dung Le
  • Hee-Jun Kang
Part of the Communications in Computer and Information Science book series (CCIS, volume 375)


In this paper, an adaptive model-based control scheme is proposed for tracking control of five-bar manipulators with deadzone inputs. The proposed controller is based on the combination of nominal dynamic model of the five-bar manipulator, a wavelet network and a deadzone precompensator. The wavelet network and the precompensator are used for compensating the unknown deadzone inputs, modeling errors and uncertainties of the five-bar manipulator. The adaptation laws are derived for tuning parameters of the precompensator and wavelet network. The efficiency of the proposed control scheme is verified by comparative simulations.


Wavelet Network Adaptive Controller Model-based Control Deadzone Input Five-bar Manipulator 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Tien Dung Le
    • 1
  • Hee-Jun Kang
    • 2
  1. 1.Graduate School of Electrical EngineeringUniversity of UlsanUlsanSouth Korea
  2. 2.School of Electrical EngineeringUniversity of UlsanUlsanSouth Korea

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