On the dynamics of a neural network for robot trajectory tracking.
Peter C. Y. ChenJames K. MillsKenneth C. SmithPublished in: IROS (1993)
Keyphrases
- trajectory tracking
- dynamic model
- neural network
- physical constraints
- neural network controller
- neural network structure
- closed loop
- bi directional
- control system
- control law
- iterative learning
- iterative learning control
- visual servoing
- experimental data
- control method
- neural network model
- back propagation
- artificial neural networks
- control scheme
- dynamical systems
- fuzzy logic
- sliding mode
- training algorithm
- associative memory
- desired trajectory
- tracking error
- genetic algorithm
- adaptive fuzzy
- hidden layer
- control algorithm
- recurrent neural networks
- multilayer perceptron
- lyapunov function
- robot manipulators
- variable structure
- training process
- radial basis function
- mobile robot