Variable structure control for 6-6 parallel manipulators based on cascaded CMAC

Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

Volumn 3, Issue , 2002, Pages 1939-1943

  Li, Shijing ^a   Feng, Zuren ^a   Fang, Hao ^a  

^a XI'AN JIAOTONG UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; CONVERGENCE OF NUMERICAL METHODS; FEEDFORWARD NEURAL NETWORKS; LAGRANGE MULTIPLIERS; LYAPUNOV METHODS; MATHEMATICAL MODELS; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; UNCERTAIN SYSTEMS;

CASCADED CEREBELLAR MODEL ARTICULATION CONTROLLER; FEEDFORWARD COMPENSATOR; PARALLEL MANIPULATOR; TRAJECTORY TRACKING; VARIABLE STRUCTURE CONTROL;

MANIPULATORS;

EID: 0036946218     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (5)

1. J.J.E.Slotin and S.S.Sastry, "Tracking control of nonlinear systems using Sliding surface with application to robot manipulator", Int.J.control, Vol.18, no.2, 1983,pp.465-492.
2. W.T.Miller, "Real-time application of neural network for sensor-based control of robots with vision", IEEE Trans.Syst.Man.Cybern, Vol.19, no.4, July-Aug, 1989, pp.825-831.
3. F.C.Chen and C.H. Chang, "Practical stability issues in CMAC Neural Network control systems", IEEE Trans control systems technology, Vol.4, no.1, Jan, 1996, pp.86-91.
4. S.Jagannathan and S.Commuri and F. L. Lewis, "Feedback linearization using CMAC Neural Networks", Automatica, Vol.34, no.5, May, 1998, pp.547-557.
5. F. Esfandiari and H.K. Khalil, "Stability Analysis of a Continuous implementation of variable structure", IEEE Trans on automatic Control Vol.36, no.5, May, 1991, pp.616-619.