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Neural Network Control Of Robot Manipulators And Non-Linear Systems
Abstract
There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics.The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.
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Cited by
Adaptive Neural Control of Uncertain MIMO Nonlinear Systems
Ge, S. S., & Wang, C. (2004) · IEEE Transactions on Neural Networks · doi:10.1109/tnn.2004.826130 · Cited by 971
Hou, Z.-G., Cheng, L., & Tan, M. (2009) · IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) · doi:10.1109/tsmcb.2008.2007810 · Cited by 668
Vamvoudakis, K. G., & Lewis, F. L. (2011) · Automatica · doi:10.1016/j.automatica.2011.03.005 · Cited by 525
Self-citationModares, H., Lewis, F. L., & Naghibi-Sistani, M.-B. (2013) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2013.2276571 · Cited by 462
Self-citationNeural-Network-Based Adaptive Leader-Following Control for Multiagent Systems With Uncertainties
Cheng, L., Hou, Z.-G., Tan, M., Lin, Y., & Zhang, W. (2010) · IEEE Transactions on Neural Networks · doi:10.1109/tnn.2010.2050601 · Cited by 342
Metadata
- Authors
- Lewis, F. W., Jagannathan, S., & Yesildirak, A.
- Venue
- CRC Press eBooks
- Publisher
- CRC Press
- Published
- 2020-08-13
- OpenAlex
- W1517236425
- Cited by
- 1,867
- References
- 0
- Type
- reference entry
- Language
- en
- Open access
- closed
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