Robust-tracking control for robot manipulator with deadzone and friction using backstepping and RFNN controller

IET Control Theory and Applications

Volumn 5, Issue 12, 2011, Pages 1397-1417

  Park, S H ^a   Han, S I ^b  

^a Dongseo University   (South Korea)

^b Pusan National University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROLLERS; ADAPTIVE LAWS; BACKSTEPPING CONTROL; CONTACT SURFACE; CONTROL SCHEMES; DEAD-ZONE; DIRECT-DRIVE ROBOT; DIRECT-DRIVE ROBOT MANIPULATORS; DYNAMIC FRICTION; ELASTO-PLASTIC; ELASTO-PLASTIC FRICTION MODELS; FRICTION COMPENSATOR; FRICTION PARAMETERS; JOINT ACTUATORS; LYAPUNOV STABILITY ANALYSIS; MODEL FREE; NON-LINEARITY COMPENSATION; NON-SMOOTH; RECURRENT FUZZY NEURAL NETWORK; ROBOT MANIPULATOR; SIMULATED RESULTS;

ADAPTIVE CONTROL SYSTEMS; BACKSTEPPING; CONTROL THEORY; ELASTOPLASTICITY; ESTIMATION; FLEXIBLE MANIPULATORS; FRICTION; FUZZY NEURAL NETWORKS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; PARAMETER ESTIMATION; ROBOT APPLICATIONS; TRIBOLOGY;

CONTROLLERS;

EID: 80051980550     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta.2010.0460     Document Type: Article

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