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
相关论文
共 50 条
  • [31] Neural network based feedback linearization control of an unmanned aerial vehicle
    Necsulescu D.
    Jiang Y.-W.
    Kim B.
    International Journal of Automation and Computing, 2007, 4 (1) : 71 - 79
  • [32] Neural-Network-Based Adaptive Feedback Linearization Control for 6-DOF Wave Compensation Platform
    Ding M.
    Meng S.
    Wang S.
    Xia X.
    Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University, 2022, 56 (02): : 165 - 172
  • [33] Adaptive feedback linearization control of antilock braking systems using neural networks
    Poursamad, Amir
    MECHATRONICS, 2009, 19 (05) : 767 - 773
  • [34] Tracking control of robot manipulators via output feedback linearization
    Fei Y.-N.
    Wu Q.-H.
    Frontiers of Mechanical Engineering in China, 2006, 1 (3): : 329 - 335
  • [35] ON THE CONTROL OF A CLASS OF FLEXIBLE MANIPULATORS USING FEEDBACK LINEARIZATION APPROACH
    MODI, VJ
    KARRAY, F
    CHAN, JK
    ACTA ASTRONAUTICA, 1993, 29 (01) : 17 - 27
  • [36] Output feedback control for free-floating space robotic manipulators base on adaptive fuzzy neural network
    Zhang WenHui
    Ye Xiaoping
    Jiang Lihong
    Zhu Yinfa
    Ji Xiaoming
    Hu Xiaoping
    AEROSPACE SCIENCE AND TECHNOLOGY, 2013, 29 (01) : 135 - 143
  • [37] Adaptive Neural Output Feedback Control for Uncertain Robot Manipulators with Input Saturation
    Mei, Rong
    Yu, ChengJiang
    COMPLEXITY, 2017,
  • [38] Neural networks-based adaptive state feedback control of robot manipulators
    Debbache, Ghania
    Bennia, Abdelhak
    Golea, Noureddine
    INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, 2007, 2 (04) : 328 - 339
  • [39] Adaptive Neural Output Feedback Control for Flexible-Joint Robotic Manipulators
    Gao, Lingjie
    Chen, Qiang
    Shi, Linlin
    PROCEEDINGS OF 2016 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL I, 2016, 404 : 629 - 640
  • [40] Neural networks-based adaptive state feedback control of robot manipulators
    Debbache, Ghania
    Bennia, Abdelhak
    Golea, Noureddine
    TENCON 2006 - 2006 IEEE REGION 10 CONFERENCE, VOLS 1-4, 2006, : 1529 - 1532
12345