Robust neural network control of rigid-link electrically-driven robots

2002 ◽  
Author(s):  
C.M. Kwan ◽  
F.L. Lewis ◽  
D.M. Dawson
Keyword(s):  
Neural Network ◽  
Network Control ◽  
Neural Network Control ◽  
Rigid Link ◽  
Electrically Driven Robots

Neural network control design for a rigid-link electrically driven robot

2003 ◽  
Vol 217 (2) ◽  
pp. 99-107 ◽  
Author(s):  
S N Huang ◽  
K K Tan ◽  
T H Lee
Keyword(s):  
Neural Network ◽  
Control Design ◽  
Network Control ◽  
Second Step ◽  
Neural Network Control ◽  
Linear Dynamics ◽  
Rigid Link ◽  
Non Linear ◽  
Robot Systems ◽  
The Stability

In this paper, a back-stepping scheme for rigid-link electrically driven (RLED) robot systems is proposed. A two-step controller is presented: the first step is a virtual controller, while the second step is an actual one. A neural network is used to approximate the unknown non-linear dynamics in the system. The stability can be guaranteed by using a rigid proof. A simulation is used to illustrate the effectiveness of the proposed algorithm.

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