Title :
Adaptive neural network control of coordinated manipulators
Author :
Ge, S.S. ; Chen, X.Q. ; Woon, L.C. ; Xu, J.X.
Author_Institution :
Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
Coordinated control of multiple manipulators has attracted the attention of many researchers. To deal with the uncertainties in the dynamics, several adaptive and robust coordinated control schemes have been proposed. Some previous works have successfully incorporated adaptive techniques by using a suitable neural network to directly parameterize the controller. As a result, adaptive enhancements are introduced to the neural network controllers to improve their robustness to parameter uncertainties and model changes. In this paper, the neural network modeling technique proposed in Ge, Hang, and Woon (1997) is extended to coordinated control of multiple robot manipulators
Keywords :
adaptive control; function approximation; manipulators; multi-robot systems; neurocontrollers; position control; adaptive neural network control; coordinated control; coordinated manipulators; neural network modeling technique; Adaptive control; Adaptive systems; Manipulator dynamics; Neural networks; Programmable control; Robot control; Robot kinematics; Robust control; Uncertain systems; Uncertainty;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.760820