Asymmetric Bounded Neural Control for an Uncertain Robot by State Feedback and Output Feedback

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

LMI based bounded output feedback control for uncertain systems

The paper provides conditions for constrained dynamic output feedback controller to be cost guaranteeing and assuring asymptotic stability for both continuous and discrete-time systems with quadratically constrained nonlinear/uncertain elements. The conditions are formulated in the form of matrix inequalities, which can be rendered to be linear fixing one of the scalar parameters. An abstract m...

متن کامل

Saturated Neural Adaptive Robust Output Feedback Control of Robot Manipulators:An Experimental Comparative Study

In this study, an observer-based tracking controller is proposed and evaluatedexperimentally to solve the trajectory tracking problem of robotic manipulators with the torque saturationin the presence of model uncertainties and external disturbances. In comparison with the state-of-the-artobserver-based controllers in the literature, this paper introduces a saturated observer-based controllerbas...

متن کامل

Neural Network Control of a Rehabilitation Robot by State and Output Feedback

In this paper, neural network control is presented for a rehabilitation robot with unknown system dynamics. To deal with the system uncertainties and improve the system robustness, adaptive neural networks are used to approximate the unknown model of the robot and adapt interactions between the robot and the patient. Both full state feedback control and output feedback control are considered in...

متن کامل

Neural adaptive control for uncertain nonlinear system with input saturation: State transformation based output feedback

This paper presents neural adaptive control methods for a class of nonlinear systems in the presence of actuator saturation. Backstepping technique is widely used for the control of nonlinear systems. By introducing alternative state variables and implementing state transformation, the system can be reformulated as output feedback of a canonical system, which ensures that the controllers can be...

متن کامل

An Approach to output Feedback Adaptive Control for robot manipulators

This paper presents a practical approach to output feedback adaptive control for robot manipulators. A novel approach is used to design the adaptive controller. Simulations and experimental results are used to demonstrate the effectiveness of the method. The approach to the controller design is based on ease of design and implementation and not on achieving theoretical stability results. Nevert...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: IEEE Transactions on Systems, Man, and Cybernetics: Systems

سال: 2019

ISSN: 2168-2216,2168-2232

DOI: 10.1109/tsmc.2019.2901277