DocumentCode
290649
Title
A neurocontroller for robot manipulators
Author
Derbal, Y. ; Bayoumi, M.M.
Author_Institution
Dept. of Electr. Eng., Queen´´s Univ., Kingston, Ont., Canada
fYear
1993
fDate
17-20 Oct 1993
Firstpage
85
Abstract
Feedforward neural networks have been proven to be capable of approximating nonlinear mappings on compact sets. This property has been used in the design of a large number of robot controllers. The overwhelming majority of these NN based robot controllers lack any substantial stability analysis. We propose a neurocontroller where: the unmodelled dynamics are considered; and the closed loop system is L∞ stable provided that certain m assumptions are satisfied
Keywords
closed loop systems; feedforward neural nets; manipulators; neurocontrollers; robust control; closed loop system; compact sets; feedforward neural networks; neurocontroller; nonlinear mappings; robot controllers; robot manipulators; stability analysis; unmodelled dynamics; Actuators; Closed loop systems; Equations; Feedforward neural networks; Manipulators; Neural networks; Neurocontrollers; Robot control; Stability analysis; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location
Le Touquet
Print_ISBN
0-7803-0911-1
Type
conf
DOI
10.1109/ICSMC.1993.390688
Filename
390688
Link To Document