Title :
Modified optimal control with a back propagation network for robotic arms
Author_Institution :
Seccion de Estudios de Posgrado e Investig., Inst. Politec. Nac. ESIME Azcapotzalco, Mexico City, Mexico
Abstract :
In this study, the trajectory tracking problem of robotic arms is considered. To solve this problem, two novel modified optimal controllers based on neural networks are proposed. The uniform stability of both the tracking error and approximation error for the aforementioned controllers is guaranteed by means of a Lyapunov-like analysis. The effectiveness of the proposed controllers is verified by simulations.
Keywords :
Lyapunov methods; adaptive control; approximation theory; backpropagation; manipulators; neurocontrollers; optimal control; stability; tracking; trajectory control; Lyapunov-like analysis; adaptive network; approximation error; backpropagation network; modified optimal controller; neural network; robotic arms; tracking error; trajectory tracking problem; uniform stability;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta.2011.0322
