ANN-based adaptive control of robotic manipulators with friction and joint elasticity

IEEE Transactions on Industrial Electronics

Volumn 56, Issue 8, 2009, Pages 3174-3187

  Chaoui, Hicham ^a,b   Sicard, Pierre ^c   Gueaieb, Wail ^a  

^a UNIVERSITY OF OTTAWA   (Canada)

^b Envitech Automation Inc   (Canada)

^c UNIVERSITÉ DU QUÉBEC À TROIS RIVIÈRES   (Canada)

Author keywords

Adaptive control; Flexible structures; Intelligent control; Manipulators; Uncertain systems

Indexed keywords

ADAPTATION PROCESS; ADAPTIVE CONTROL; ARTIFICIAL NEURAL NETWORKS; CONTROL STRATEGIES; CONTROL STRUCTURE; COULOMB FRICTIONS; DRIVE MOTORS; DYNAMICAL MODEL; ELECTROMECHANICAL SYSTEMS; FEED-FORWARD; FEEDBACK CONTROL LAW; INERTIA PARAMETERS; INTERNAL STABILITY; JOINT ELASTICITY; LEARNING RATES; LOAD PARAMETERS; NONLINEAR FRICTION; ON-LINE ADAPTATION; PARAMETER CHANGES; POSITIONING SYSTEM; POTENTIAL PROBLEMS; REFERENCE MODELS; ROBOTIC MANIPULATORS; RULE BASED; SIMULATION RESULT; STATIC AND DYNAMIC PERFORMANCE; VARIABLE LEARNING RATE; VERY LARGE-SCALE INTEGRATION;

BACKPROPAGATION; CONTROLLERS; ELECTROMECHANICAL DEVICES; FEEDBACK; FLEXIBLE STRUCTURES; FRICTION; INTELLIGENT CONTROL; LEARNING ALGORITHMS; MANIPULATORS; MODELS; MOTORS; NEURAL NETWORKS; SUPERVISORY PERSONNEL; SYSTEM STABILITY; TRIBOLOGY; UNCERTAIN SYSTEMS;

ADAPTIVE CONTROL SYSTEMS;

EID: 68449098068     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2009.2024657     Document Type: Article

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