Neural network control of robot manipulators

被引：73
作者：
Lewis, FL
机构：
[1] Automation and Robotics Research Institute, University of Texas at Arlington, Ft. Worth, TX 76118
来源：
IEEE EXPERT-INTELLIGENT SYSTEMS & THEIR APPLICATIONS | 1996年 / 11卷 / 03期
关键词：
D O I：
10.1109/64.506755
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
IN THIS ARTICLE, THE AUTHOR DESCRIBES NEURAL NETWORK CONTROLLERS FOR ROBOT MANIPULATORS IN A VARIETY OF APPLICATIONS, INCLUDING POSITION CONTROL, FORCE CONTROL, PARALLEL-LINK MECHANISMS, AND DIGITAL NEURAL NETWORK CONTROL. THESE ''MODEL-FREE'' CONTROLLERS OFFER A POWERFUL AND ROBUST ALTERNATE TO ADAPTIVE CONTROL.
引用
收藏
页码：64 / 75
页数：12
相关论文
共 13 条
[1]  
Astrom K. J., 1989, Adaptive Control, V2nd
[2]   ADAPTIVE-CONTROL OF NONLINEAR-SYSTEMS USING NEURAL NETWORKS [J].
CHEN, FC ;
KHALIL, HK .
INTERNATIONAL JOURNAL OF CONTROL, 1992, 55 (06) :1299-1317
[3]   ADAPTIVELY CONTROLLING NONLINEAR CONTINUOUS-TIME SYSTEMS USING MULTILAYER NEURAL NETWORKS [J].
CHEN, FC ;
LIU, CC .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1994, 39 (06) :1306-1310
[4]   Multilayer discrete-time neural-net controller with guaranteed performance [J].
Jagannathan, S ;
Lewis, FL .
IEEE TRANSACTIONS ON NEURAL NETWORKS, 1996, 7 (01) :107-130
[5]  
Lewis F. L., 1993, CONTROL ROBOT MANIPU
[6]   A NEW ADAPTIVE LAW FOR ROBUST ADAPTATION WITHOUT PERSISTENT EXCITATION [J].
NARENDRA, KS ;
ANNASWAMY, AM .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1987, 32 (02) :134-145
[7]  
Polycarpou M. M., 1991, Identification and control of nonlinear systems using neural network models: Design and stability analysis
[8]   ADAPTIVE-CONTROL OF UNKNOWN PLANTS USING DYNAMICAL NEURAL NETWORKS [J].
ROVITHAKIS, GA ;
CHRISTODOULOU, MA .
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1994, 24 (03) :400-412
[9]   A PERCEPTION NETWORK FOR FUNCTIONAL IDENTIFICATION AND CONTROL OF NONLINEAR-SYSTEMS [J].
SADEGH, N .
IEEE TRANSACTIONS ON NEURAL NETWORKS, 1993, 4 (06) :982-988
[10]  
Slotine W., 1991, Applied Nonlinear Control
12