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Volumn 2004, Issue 3, 2004, Pages 2679-2686

CMAC adaptive control of flexible-joint robots using backstepping with tuning functions

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; APPROXIMATION THEORY; MANIPULATORS; MATHEMATICAL MODELS; MATHEMATICAL TECHNIQUES; NEURAL NETWORKS; REAL TIME SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS); TRAJECTORIES; TUNING;

EID: 3042669275     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307465     Document Type: Conference Paper
Times cited : (28)

References (17)
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    • Albus, J.1
  • 2
    • 0016555419 scopus 로고
    • Data storage in the cerebellar model articulation controller (CMAC)
    • J. Albus, "Data storage in the cerebellar model articulation controller (CMAC)," J. Dyn. Syst. Meas. Contr., vol. 97, pp. 228-233, 1975.
    • (1975) J. Dyn. Syst. Meas. Contr. , vol.97 , pp. 228-233
    • Albus, J.1
  • 3
    • 0029342070 scopus 로고
    • Global tracking controllers for flexible-joint manipulators: A comparative study
    • B. Brogliato, R. Ortega, and R. Lozano, "Global tracking controllers for flexible-joint manipulators: a comparative study," Automatica, vol. 31, pp. 941-956, 1995
    • (1995) Automatica , vol.31 , pp. 941-956
    • Brogliato, B.1    Ortega, R.2    Lozano, R.3
  • 6
    • 0032180730 scopus 로고    scopus 로고
    • Robust backstepping control of robotic systems using neural networks
    • S. Janannathan, and F.L. Lewis, "Robust backstepping control of robotic systems using neural networks," J. Intell. Robot. Sys., vol. 24, no. 2-4, pp. 105-128, 1998.
    • (1998) J. Intell. Robot. Sys. , vol.24 , Issue.2-4 , pp. 105-128
    • Janannathan, S.1    Lewis, F.L.2
  • 7
    • 0034848237 scopus 로고    scopus 로고
    • Control of a multiple link robot arm at very high speeds for an industrial application
    • S. Jagannathan,"Control of a multiple link robot arm at very high speeds for an industrial application," Proc. Amer. Contr. Conf., vol. 2, pp. 793-798, 2001.
    • (2001) Proc. Amer. Contr. Conf. , vol.2 , pp. 793-798
    • Jagannathan, S.1
  • 8
    • 0033742860 scopus 로고    scopus 로고
    • Optimal design of CMAC neural-network controller for robot manipulators
    • Y.H, Kim and F.L. Lewis, "Optimal design of CMAC neural-network controller for robot manipulators," IEEE Trans. Sys. Man Cyber. Part C, vol. 30, no. 1, pp. 22-31, 2000.
    • (2000) IEEE Trans. Sys. Man Cyber. Part C , vol.30 , Issue.1 , pp. 22-31
    • Kim, Y.H.1    Lewis, F.L.2
  • 10
    • 0033339236 scopus 로고    scopus 로고
    • Control of variable-speed gaits for a biped robot
    • A.L. Kun and T.W. Miller, "Control of variable-speed gaits for a biped robot," IEEE Robot. Automat. Mag., vol. 6, no. 3, pp. 19-29, 1999.
    • (1999) IEEE Robot. Automat. Mag. , vol.6 , Issue.3 , pp. 19-29
    • Kun, A.L.1    Miller, T.W.2
  • 11
    • 0034313434 scopus 로고    scopus 로고
    • Robust backstepping control of nonlinear systems using neural-networks
    • C. Kwan and F.L. Lewis, "Robust backstepping control of nonlinear systems using neural-networks," IEEE Trans. Syst. Man Cyber. Part A, vol. 30, no. 6, pp. 753-766, 2000.
    • (2000) IEEE Trans. Syst. Man Cyber. Part A , vol.30 , Issue.6 , pp. 753-766
    • Kwan, C.1    Lewis, F.L.2
  • 13
    • 0031640829 scopus 로고    scopus 로고
    • Stable, on-line learning using CMACs for neuroadaptive tracking control of flexible-joint manipulators
    • C.J.B Macnab and G.M.T. D'Eleuterio, "Stable, on-line learning using CMACs for neuroadaptive tracking control of flexible-joint manipulators," Proc. IEEE Int. Conf. Robot. Automat. (Leuven, Belgium) vol. 1, pp. 511-517, 1998.
    • (1998) Proc. IEEE Int. Conf. Robot. Automat. (Leuven, Belgium) , vol.1 , pp. 511-517
    • Macnab, C.J.B.1    D'Eleuterio, G.M.T.2
  • 14
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    • Discrete-time Lyapunov design for neuroadaptive control of elastic-joint robots
    • C.J.B., Macnab, G.M.T. D'Eleuterio, "Discrete-time Lyapunov design for neuroadaptive control of elastic-joint robots," Int. J. Robot. Res., vol. 19, no. 5, pp. 511-525, 2000.
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  • 15
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    • Neuroadaptive control of elastic-joint robots using robust performance enhancement
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    • (2001) Robotica , vol.19 , Issue.6 , pp. 619-629
    • Macnab, C.J.B.1    D'Eleuterio, G.M.T.2


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.