Adaptive RBF network control for uncertain system of dual arm robot

被引：0

作者：

Luo, Shaohua ^{[1
]}

机构：

[1] Chongqing Aerosp Polytech Coll, Dept Mech Engn, Chongqing 400021, Peoples R China

来源：

MECHANICAL ENGINEERING, MATERIALS AND ENERGY II | 2013年 / 281卷

关键词：

Dual arm robot; Adaptive control; RBF network; uncertain systems; SLIDING-MODE CONTROL;

D O I：

10.4028/www.scientific.net/AMM.281.37

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

In this paper, an adaptive RBF network controller is developed for a class of uncertain system of dual arm robot. RBF neural network is employed to estimate the unknown continuous functions. The tracking error is proved to be bounded and ultimately converges to an adequately compact set. The results indicate that the proposed controller has satisfying tracking performance.

引用

页码：37 / 40

页数：4

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