Robust Neural-Network Control of Rigid-Link Electrically Driven Robots  

Oleh:

Dawson, D. M. ; Kwan, C. ; Lewis, F. L.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: IEEE Transactions on Neural Networks vol. 9 no. 4 (1998), page 581-588.
Topik: ROBOTS; robust; neural - network; control; rigid - link; electrically; robots

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: II36.3 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

A robust neural - network (NN) controller is proposed for the motion control of rigid - link electrically driven (RLED) robots. Two - layer NN's are used to approximate two very complicated nonlinear functions. The main advantage of our approach is that the NN weights are tuned online, with no off - line learning phase required. Most importantly, we can guarantee the uniformly ultimately bounded (UUB) stability of tracking errors and NN weights. When compared with standard adaptive robot controllers, we do not require lengthy and tedious preliminary analysis to determine a regression matrix. The controller can be regarded as a universal reusable controller because the same controller can be applied to any type of RLED robots without any modifications.

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