Synthetic tracking controller for robot manipulator with flexible joints, dynamics of executive motors and affect of disturbance based on radial basic function (RBF) neural network.
Tien Thanh NguyenHai Van NguyenTien Vu HoaPublished in: ROBIO (2014)
Keyphrases
- robot manipulators
- rbf neural network
- tracking error
- pid controller
- external disturbances
- control scheme
- inverse kinematics
- radial basis function
- joint angles
- closed loop
- dynamic model
- force control
- control law
- fault diagnosis
- neural network model
- control system
- bp neural network
- nonlinear systems
- desired trajectory
- control method
- fuzzy clustering
- fuzzy controller
- real time
- hidden layer
- end effector
- data fusion
- neural network
- decision making
- rbfnn
- artificial neural networks
- computational intelligence
- optimization method
- support vector
- cluster analysis
- degrees of freedom
- multilayer perceptron