IEEE Transactions on Industrial Electronics · 1992 · 106 citations · 11 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot DynamicsRoboticsAdaptive ControlControl SystemsControl TheoryInverse DynamicsManipulator ControlRobot ManipulatorsAdaptive Control Of Uncertain SystemsAdaptive Neural ControlDynamics Of Robotic ManipulatorsLearning-based ControlManipulation Under Uncertainty
A neural network controller for trajectory control of robotic manipulators that is used not to internalize the inverse dynamic model of the controlled object but to compensate only the uncertainties of the robotic manipulator is presented. Its performance is compared with that of the conventional adaptive scheme. The results show the ability of the neural network controller to adapt to unstructured effects. A learning method for the neural network compensator with true teaching signals is shown. The tracking error of the robotic manipulator was greatly reduced when this controller was used.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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A multilayered neural network controller
D. Psaltis, A. Sideris, A.A. Yamamura · IEEE Control Systems Magazine · 1988 · 1.1K citations