A Neural-Network Compensator with Fuzzy Robusti cation Terms for Improved Design of Adaptive Control of Robot Manipulators
نویسنده
چکیده
A sum radial-basis-function neural-network (NN) compensator with computed-torque control and novel weight-tuning algorithms is proposed to improve tracking performance and to account for structured/unstructured uncertainties of robot manipulators. The proposed weight-tuning algorithms do not require the initial NN weights to be small. The bounds of NN weights are guaranteed to be convergent in the sense of Lyapunov. The e ectiveness of the proposed algorithm is demonstrated using a laboratory robot manipulator. Key-Words: neural netowrk, fuzzy, adaptive control, robot manipulator
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