Title :
A two-time-scale neural tracking controller for a class of nonlinear dynamical systems
Author :
Cheng, W. ; Wen, J.T.
Author_Institution :
NASA Center for Intelligent Robotic Syst. for Space Exploration, Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
A two-time-scale neural controller with application to tracking control for a class of nonlinear dynamical systems is introduced, and its stability is analyzed. The feasibility of the proposed controller is demonstrated by simulation of a two-link rigid robot arm
Keywords :
control system analysis; intelligent control; neural nets; nonlinear systems; position control; robots; stability; tracking; nonlinear dynamical systems; stability; tracking controller; two-link rigid robot arm; two-time-scale neural controller; Closed loop systems; Control systems; Neural networks; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear filters; PD control; Robots; Stability analysis;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371036
