Title :
Two-degree-of-freedom robot neurocontroller
Author :
Guez, Allon ; Bar-Kana, Izhak
Author_Institution :
Dept. of Electr. & Comput. Eng., Drexel Univ., Philadelphia, PA, USA
Abstract :
The performance of a two-degree-of-freedom robot neurocontroller is described. The main theorem suggests that global asymptotic stability is guaranteed despite the highly nonlinear nature of the closed-loop dynamics. Examples demonstrating the applicability of the neurocontroller are provided. It is concluded that a two-degree-of-freedom robot neurocontroller provides opportunities for noise filtering and disturbance rejection not available with a constant-gain servo neurocontroller
Keywords :
closed loop systems; neural nets; nonlinear control systems; robots; servomechanisms; closed-loop dynamics; constant-gain servo; disturbance rejection; neural nets; neurocontroller; noise filtering; nonlinear control systems; robot; stability; Adaptive control; Equations; Manipulators; Neural networks; Neurocontrollers; Noise measurement; Programmable control; Robot kinematics; Servomechanisms; Zinc compounds;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203397
