Decentralized Robust Adaptive Neural Network Control for Electrically Driven Robot Manipulators with Bounded Input Voltages
نویسندگان
چکیده
منابع مشابه
Adaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
متن کاملadaptive rbf network control for robot manipulators
tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...
متن کاملComments on "Redesign of hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators"
—The above paper 1 presents the design of an adaptive/robust controller for uncertain electrically-driven robots with no velocity measurements. This note shows that the claim that velocity measurements are not required for control implementation is incorrect. This note addresses the adaptive/robust controller proposed in the above paper 1 by Su and Stepanenko for the position control of uncerta...
متن کاملRedesign of hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators
In a recent work of [16], a hybrid adaptive controller for rigid-link electrically-driven robot manipulators was proposed. Semiglobal asymptotic stability of the controller was established in the Lyapunov sense. However, there are two limitations in it. One is that the controller requires the joint velocity measurements, that with the required accuracy can be difficult to realize in practical a...
متن کاملHybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators
A learning control scheme for a class of robot manipulatorswhose endpoint is moving under geometrical constraints on a surfaceis proposed. In this scheme, the input torque command is composed oftwo different signals updated separately at every trial by different ways.One is updated by the angular velocity error vector which is projectedto the tangent plane of the constraint ...
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ژورنال
عنوان ژورنال: Transactions of the Korean Society for Noise and Vibration Engineering
سال: 2015
ISSN: 1598-2785
DOI: 10.5050/ksnve.2015.25.11.753