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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...
| Autores principales: | , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Hindawi Publishing Corporation
2014
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| Materias: | |
| 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 |