An adaptive neural control scheme for mechanical manipulators with guaranteed stability

Proceedings - 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 1999

Volumn , Issue , 1999, Pages 357-362

  Barambones, O ^a   Etxebarria, V ^a  

^a UNIVERSITY OF THE BASQUE COUNTRY UPV EHU   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; FEEDBACK LINEARIZATION; SLIDING MODE CONTROL;

ADAPTIVE NEURAL CONTROL; CLOSED-LOOP SYSTEM; CONTROL OBJECTIVES; CONTROL SCHEMES; FEEDBACK LINEARIZATION CONTROL LAW; MECHANICAL MANIPULATORS; NEURAL APPROXIMATION ERRORS; NEURAL CONTROLLER; SLIDING-MODE CONTROL; TRAJECTORY TRACKING CONTROL;

MANIPULATORS;

EID: 0001038271     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. ETXEBARRIA, V. AND DE LA SEN, M., 1996, An approach to adaptive neural control of robot manipulators. International Journal of Systems Science, 27, 1143-1152.
2. OZAKI, T., SUZUKI, T., FURUHASHI, T., OKUMA, S. and UCHIKAWA, Y., 1991, Trajectory control of robotic manipulators using neural networks. IEEE Transactions on Industrial Electronics, 38, 641-657.
3. PHAM, D.T. and OH, S.J., 1994, Adaptive control of a robot using neural networks. Robotica, 12, 553-561.
4. SLOTINE, J.J.E. and COETSEE, J.A., 1986, Adaptive sliding controller synthesis for nonlinear systems. International Journal of Control, 43, 1631-1651.
5. SLOTINE, J.J.E. and LI, W., 1991, Applied nonlinear control. (Englewood Cliffs, New Jersey, USA: Prentice-Hall).
6. SUNDARARAJAN, N., CHIN, L. and SAN, Y.K., 1993, Selection of network and learning parameters for an adaptive neural robotic control scheme. Mechatronics, 3, 747-766.