Robust neural control for robotic manipulators

DOI10.1016/S0005-1098(01)00191-1zbMath0991.93080OpenAlexW2004270347MaRDI QIDQ1596497

Oscar Barambones, Victor Etxebarria

Publication date: 1 September 2002

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(01)00191-1

zbMATH Keywords

robust controlLyapunov stabilitysliding moderoboticsneural control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Minimal systems representations (93B20) Variable structure systems (93B12) Robot dynamics and control of rigid bodies (70E60)

Related Items (10)

RobustH_∞control for a class of uncertain mechanical systems ⋮ An adaptive neural network switching control approach of robotic manipulators for trajectory tracking ⋮ FAT-based robust adaptive control of electrically driven robots without velocity measurements ⋮ Robust neural network control of robotic manipulators via switching strategy ⋮ Adaptive control of robot manipulators using fuzzy logic systems under actuator constraints ⋮ Neural network robust \(H_\infty\) tracking control strategy for robot manipulators ⋮ Adaptive neuro-predictive control for redundant robot manipulators in presence of static and dynamic obstacles: A Lyapunov-based approach ⋮ Weighted multiple-model neural network adaptive control for robotic manipulators with jumping parameters ⋮ Optimal integral sliding mode control scheme based on pseudospectral method for robotic manipulators ⋮ ANFIS-based an adaptive continuous sliding-mode controller for robot manipulators in operational space

Cites Work

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• An approach to adaptive neural control of robot manipulators
• Adaptive sliding controller synthesis for non-linear systems
• Stable adaptive tracking of uncertain systems using nonlinearly parametrized on-line approximators
• Adaptive control of discrete systems using neural networks
• ROBUST ADAPTIVE CONTROL FOR ROBOT MANIPULATORS WITH UNMODELLED DYNAMICS
• A critique of neural networks for discrete-time linear control

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