An adaptive neural robust controller for trajectory tracking of robot manipulators (Q2725161)
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scientific article; zbMATH DE number 1618816
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | An adaptive neural robust controller for trajectory tracking of robot manipulators |
scientific article; zbMATH DE number 1618816 |
Statements
9 April 2002
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adaptive neural robust controller
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trajectory tracking uncertain robot manipulators
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PD control
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An adaptive neural robust controller for trajectory tracking of robot manipulators (English)
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An adaptive neural robust controller is presented for trajectory tracking of uncertain robot manipulators. By using neural network to learn the unknown upper bound of uncertainties, the proposed control scheme overcomes the drawback that the prior knowledge on the upper bound of uncertainties is required in the conventional robust control scheme. By using a PD control strategy, the control scheme can be easily implemented.
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