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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...
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ژورنال
عنوان ژورنال: IEEE Transactions on Neural Networks and Learning Systems
سال: 2018
ISSN: 2162-237X,2162-2388
DOI: 10.1109/tnnls.2017.2650865