The DOI matches its Crossref record; 21 of the 21 references it cites were found in a registry or an index.
Neural net robot controller with guaranteed tracking performance
Abstract
A neural net (NN) controller for a general serial-link robot arm is developed. The NN has two layers so that linearity in the parameters holds, but the "net functional reconstruction error" and robot disturbance input are taken as nonzero. The structure of the NN controller is derived using a filtered error/passivity approach, leading to new NN passivity properties. Online weight tuning algorithms including a correction term to backpropagation, plus an added robustifying signal, guarantee tracking as well as bounded NN weights. The NN controller structure has an outer tracking loop so that the NN weights are conveniently initialized at zero, with learning occurring online in real-time. It is shown that standard backpropagation, when used for real-time closed-loop control, can yield unbounded NN weights if (1) the net cannot exactly reconstruct a certain required control function or (2) there are bounded unknown disturbances in the robot dynamics. The role of persistency of excitation is explored.
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Cites
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Cited by
Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance
Bechlioulis, C. P., & Rovithakis, G. A. (2008) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2008.929402 · Cited by 2,756
Multilayer neural-net robot controller with guaranteed tracking performance
Lewis, F. L., Yesildirek, A., & Liu, K. (1996) · IEEE Transactions on Neural Networks · doi:10.1109/72.485674 · Cited by 1,114
Self-citation(1997) · Elsevier eBooks · doi:10.1016/b978-0-12-526430-3.x5000-4 · Cited by 290
Structural Control: Past, Present, and Future
(1997) · doi:10.1061/(asce)0733-9399(1997)123:9(897
Metadata
- Authors
- Lewis, F. L., Liu, K., & Yesildirek, A.
- Venue
- IEEE Transactions on Neural Networks
- Published
- 1995-05
- Volume
- 6
- Issue
- 3
- Pages
- 703-715
- ISSN
- 1045-9227 (ISSN-L)
- OpenAlex
- W2018869705
- Cited by
- 638
- References
- 21
- FWCI
- 47.55
- Type
- journal article
- Language
- en
- Open access
- closed
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