On adaptive trajectory tracking of a robot manipulator using inversion of its neural emulator.
Laxmidhar BeheraMadan GopalSantanu ChaudhuryPublished in: IEEE Trans. Neural Networks (1996)
Keyphrases
- robot manipulators
- control of robot manipulators
- sliding mode
- trajectory tracking
- dynamic model
- control scheme
- control system
- closed loop
- sliding mode control
- control law
- iterative learning
- pid controller
- network architecture
- adaptive control
- variable structure
- neural network
- bi directional
- tracking error
- control method
- physical constraints