Neural-Network Control of Mobile Manipulators  

Oleh:

Lin, Sheng ; Goldenberg, A. A.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: IEEE Transactions on Neural Networks vol. 12 no. 5 (2001), page 1121-1133.
Topik: mobile business; neural - network; control; mobile manipulators

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: II36.5 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

In this paper, a neural network (NN) - based methodology is developed for the motion control of mobile manipulators subject to kinematic constraints. The dynamics of the mobile manipulator is assumed to be completely unknown, and is identified online by the NN estimators. No preliminary learning stage of NN weights is required. The controller is capable of disturbance - rejection in the presence of unmodeled bounded disturbances. The tracking stability of the closed - loop system, the convergence of the NN weight - updating process and boundedness of NN weight estimation errors are all guaranteed. Experimental tests on a 4 - DOF manipulator arm illustrate that the proposed controller significantly improves the performance in comparison with conventional robust control.

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