On the Adaptive Neural Network Control of Robot Manipulators
developed for the trajectory tracking of robot manipulators with parameter uncertainty and outside disturbance. A functional-link neural network is used to approximate a unknown function. And a new network weight tuning law is given which is different to the existing σ-modification method. The proposed robust neural network controller based on this new tuning law can guarantee not only the boundedness of network weight but also the asymptotic stability of the tracking error. The numerical experiment shows that the proposed method is feasible and efficient.
Robot Neural network Robust control Simulation 机器人 神经网络 鲁棒控制
GUI Ke-feng GU Wei-dong
College of Information Science and Technology,Shandong Institute of Light Industry,Jinan 250353,Chin Shandong Computer Science Center,Jinan 250014,China
国内会议
成都
英文
153-154,169
2008-04-01（万方平台首次上网日期，不代表论文的发表时间）