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Adaptive H∞ neural network tracking controller for electrically driven manipulators

✍ Scribed by Hwang, M.-C.; Hu, X.; Shrivastava, Y.

Book ID
114449846
Publisher
The Institution of Electrical Engineers
Year
1998
Tongue
English
Weight
777 KB
Volume
145
Category
Article
ISSN
1350-2379

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A simple and effective method for trajectory tracking of robotic manipulator is proposed. The first step is to employ a neural network to learn the characteristics of the inverse dynamics of the robotic manipulator in an off-line manner. Then the neural network is placed in series with the robotic m