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Position control of ultrasonic motors using MRAC with dead-zone compensation

✍ Scribed by Senjyu, T.; Kashiwagi, T.; Uezato, K.

Book ID
119777107
Publisher
IEEE
Year
2001
Tongue
English
Weight
243 KB
Volume
48
Category
Article
ISSN
1932-4529

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## Abstract In this paper, we examine the control of robot manipulators utilizing a Radial Basis Function (RBF) neural network. We are able to remove the typical requirement of Persistence of Excitation (PE) for the desired trajectory by introducing an __error minimizing dead‐zone__ in the learning