DocumentCode
823513
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
Volume
38
Issue
16
fYear
2002
fDate
8/1/2002 12:00:00 AM
Firstpage
935
Lastpage
936
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;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
DOI
10.1049/el:20020605
Filename
1033860
Link To Document