A Lyapunov-based design of robust control for a robot using neural networks

IEEE Conference on Control Applications - Proceedings

Volumn 1, Issue , 2002, Pages 333-338

  Barambones, O ^a  

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

Author keywords

Lyapunov Based design; Neural Networks; Robust control

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; APPROXIMATION THEORY; CLOSED LOOP CONTROL SYSTEMS; FEEDBACK CONTROL; INTELLIGENT ROBOTS; LYAPUNOV METHODS; NEURAL NETWORKS;

MECHANICAL MANIPULATORS; NEURAL CONTROLLERS;

ROBUSTNESS (CONTROL SYSTEMS);

EID: 0036033227     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. Barambones, O. and Etxebarria, V., 2000, Robust adaptive control of mechanical manipulators with unmodelled dynamics. Cybernetics and Systems, 31, 67-86.
2. 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.
3. 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.
4. Pham, D.T. and Oh, S.J., 1994, Adaptive control of a robot using neural networks. Robotica, 12, 553-561.
5. Slotine, J.J.E. and Coetsee, J.A., 1986, Adaptive sliding controller synthesis for nonlinear systems. International Journal of Control, 43, 1631-1651.
6. Slotine, J.J.E. and Li, W., 1991, Applied nonlinear control. (Englewood Cliffs, New Jersey, USA: Prentice-Hall).