Title :
Neuro-adaptive control of mobile manipulators based on compensation of approximation error
Author :
Lee, Choon-Young ; Eom, Tae-Dok ; Lee, Ju-Jang
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
fDate :
8/1/2002 12:00:00 AM
Abstract :
A stable adaptive control method based on neural networks is proposed for mobile manipulators. Adaptive compensation of the approximation error of a neural network based on a priori knowledge on the dynamic form of the system is considered without knowing the system parameters exactly
Keywords :
adaptive control; control system synthesis; error compensation; manipulators; mobile robots; neurocontrollers; stability; adaptive compensation; approximation error; control system design; globally stable method; mobile manipulators; neural networks; neuro-adaptive control; stable adaptive control method; system dynamics;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:20020605
