Name
Title | ||
|---|---|---|
An adaptive neural control scheme for mechanical manipulators with guaranteed stability |
Abstract | ||
|---|---|---|
An adaptive neural control scheme for mechanical manipulators is presented. The design basically consists of a neural controller which implements a feedback linearization control law for a generic manipulator with unknown parameters, and a sliding-mode control which improves the robustness of the design and compensates for the neural approximation errors. The resulting closed-loop system is stable and the trajectory-tracking control objective is asymptotically achieved |
Year | DOI | Venue |
|---|---|---|
1999 | 10.1109/CIRA.1999.810074 | Monterey, CA |
Keywords | Field | DocType |
adaptive control,asymptotic stability,closed loop systems,feedback,linearisation techniques,manipulator dynamics,robust control,tracking,variable structure systems,adaptive control,asymptotic stability,closed-loop system,feedback,guaranteed stability,linearization,mechanical manipulators,neurocontrol,sliding-mode control,trajectory-tracking | Neural control,Computer science,Control theory,Feedback linearization,Manipulator,Robustness (computer science),Exponential stability,Neural network controller,Adaptive control,Robust control | Conference |
ISBN | Citations | PageRank |
0-7803-5806-6 | 0 | 0.34 |
References | Authors | |
2 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Oscar Barambones | 1 | 0 | 0.34 |
| Victor Etxebarria | 2 | 28 | 4.78 |