Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velo...

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Detalles Bibliográficos
Autores principales: Puga-Guzmán, S., Moreno-Valenzuela, J., Santibáñez, V.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi Publishing Corporation 2014
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3916027/
https://www.ncbi.nlm.nih.gov/pubmed/24574910
http://dx.doi.org/10.1155/2014/694706

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3916027/
https://www.ncbi.nlm.nih.gov/pubmed/24574910
http://dx.doi.org/10.1155/2014/694706

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