Stable decentralized adaptive control design of robot manipulators using neural network approximations.
Sunan HuangKok Kiong TanTong Heng LeePublished in: Adv. Robotics (2003)
Keyphrases
- adaptive control
- neural network
- robot manipulators
- adaptive controller
- variable structure
- feedback control
- nonlinear systems
- control law
- dynamic environments
- back propagation
- machine learning
- artificial neural networks
- expert systems
- control scheme
- real time
- lyapunov function
- control method
- multilayer perceptron
- neural network model
- experimental data
- fuzzy logic
- mobile robot