Robust backstepping control of robotic systems using neural networks

Proceedings of the IEEE Conference on Decision and Control

Volumn 1, Issue , 1998, Pages 943-948

  Jagannathan, S ^a  

^a UNIVERSITY OF TEXAS AT SAN ANTONIO   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTINUOUS TIME CONTROL SYSTEMS; PERSISTENCY OF EXCITATION (PE); ROBUST BACKSTEPPING CONTROL; TRACKING ERROR;

ERROR ANALYSIS; KNOWLEDGE BASED SYSTEMS; MATRIX ALGEBRA; NEURAL NETWORKS; PARAMETER ESTIMATION; POSITION CONTROL; REGRESSION ANALYSIS; ROBOTICS; ROBUSTNESS (CONTROL SYSTEMS); TRACKING (POSITION); TUNING;

DISCRETE TIME CONTROL SYSTEMS;

EID: 0032285027     PISSN: 01912216     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Article

References (6)

1. K. J. Åström and B. Wittemnark. Adaptive control, Addison-Wesley Company, Reading, Massachusetts, 1989.
2. S. Commuri, S. Jagannathan, and F. L. Lewis, "CMAC NN control of robot manipulators," Joivrnal of Robotic Systems, Vol. 14, No. 6, pp. 465-482, 1997.
3. S. Jagannathan and F. L.Lewis, "Robust back-st.eping control of robot manipulators," Journal of Intelligent and Fuzzy Systems, to appear 1998.
4. P. V. Kokotovic, "Bode Lecture: The Joy of Feedback," IEEE Control Systems Magazine, 710.3, pp.7-17, June 1992.
5. C. M. Kwaii and F. L. Lewis, "Robust backstep-ping control of nonlinear systeins using neural networks ", European Control Conference, 1994.
6. J.-J. E Slotine and W. Li, Applied Nonlinear Control, Englewood Cliffs, NJ, Prentice-Hall, 1991.