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Semiglobal stability of saturated linear PID control for robot manipulators

✍ Scribed by Jose Alvarez-Ramirez; Rafael Kelly; Ilse Cervantes

Book ID
108307317
Publisher
Elsevier Science
Year
2003
Tongue
English
Weight
226 KB
Volume
39
Category
Article
ISSN
0005-1098

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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