Adaptive robust control for servo manipulators

Neural Computing and Applications

Volumn 12, Issue 3-4, 2003, Pages 178-184

  Khoh, C J ^a   Tan, K K ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

Adaptive control; Manipulators; Neural network; Robust control; Stability

Indexed keywords

ASYMPTOTIC STABILITY; CONTROL NONLINEARITIES; ERROR ANALYSIS; FLYWHEELS; FUNCTION EVALUATION; LEARNING SYSTEMS; MANIPULATORS; MATHEMATICAL MODELS; POSITION CONTROL; RADIAL BASIS FUNCTION NETWORKS; REAL TIME SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS); SERVOMECHANISMS; STIFFNESS; SYSTEM STABILITY; TRACKING (POSITION);

ASYMPTOTIC TRACKING; POSITION SENSORS; SERVOMANIPULATORS;

SELF TUNING CONTROL SYSTEMS;

EID: 0347603422     PISSN: 09410643     EISSN: None     Source Type: Journal    
DOI: 10.1007/s00521-003-0380-1     Document Type: Article

References (9)

1. Zalzala AMS (1996) Model-based adaptive neural structures for robotic control, In: Zalzala AMS (ed) Neural Networks for Robotic Control, Ellis Horwood, London
2. Pagilla P, Tomizuka M (1995) Adaptive control of two robot arms carrying an unknown object. In: Proceedings of the 1995 IEEE International Conference on Robotics and Automation, Washington, DC, 11-14 May 1995
3. Lee TH, Tan KK and Lee MW (1998) A variable structured-augmented adaptive controller for a gyro-mirror LOS stabilization platform. Mechatronics, 8(1):47-64
4. Tan KK, Khoh CJ (1999) Variable structure augmented adaptive control of a LOS system. Technical Report 9904, National University of Singapore
5. Callan R (1999) The essence of neural networks. Prentice Hall, London
6. Warwick K (1996) An overview of neural networks in control applications. In: Zalzala AMS (ed) Neural networks for robotic control, Ellis Horwood, London
7. Morris AS, Khemaissia S (1996) Artificial neural network based intelligent robot dynamic control. In: Zalzala AMS (ed) Neural networks for robotic control, Ellis Horwood, London
8. Astrom KJ, Wittermark B (1989) Adaptive control. Addison-Wesley, Reading, MA
9. Lee TH, Tan KK and Lee MW (2001) Composite control of a gyro mirror line-of-sight stabilization platform design and autotuning. ISA Trans 40(2):155-171