Adaptive neural network feedback linearization control of coordinated manipulators

被引：0
|
作者：
Ge, SS [1 ]
Lee, TH [1 ]
Woon, LC [1 ]
机构：
[1] Natl Univ Singapore, Dept Elect Engn, Singapore 119260, Singapore
来源：
MOTION CONTROL (MC'98) | 1999年
关键词：
adaptive control; neural networks; feedback linearization; manipulators;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, coordinated control of multiple manipulators is considered. A concise dynamic model in the object coordinate space is developed for the coordinated manipulators. Based on this model, an adaptive neural network controller has been designed. It can be shown that the motion tracking errors converges to zero asymptotically whereas the internal force tracking error remains bounded and can be made arbitrarily small. Copyright (C) 1998 IFAC.
引用
收藏
页码：315 / 320
页数：6
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