Robust neural-network control of rigid-link electrically driven robots
- 1 July 1998
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Neural Networks
- Vol. 9 (4), 581-588
- https://doi.org/10.1109/72.701172
Abstract
A robust neural-network (NN) controller is proposed for the motion control of rigid-link electrically driven (RLED) robots. Two-layer NN's are used to approximate two very complicated nonlinear functions. The main advantage of our approach is that the NN weights are tuned online, with no off-line learning phase required. Most importantly, we can guarantee the uniformly ultimately bounded (UUB) stability of tracking errors and NN weights. When compared with standard adaptive robot controllers, we do not require lengthy and tedious preliminary analysis to determine a regression matrix. The controller can be regarded as a universal reusable controller because the same controller can be applied to any type of RLED robots without any modifications.Keywords
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