Neural network-based nonlinear tracking control of kinematically redundant robot manipulators

DOI10.1016/j.mcm.2011.01.014zbMath1219.93079OpenAlexW1991642910WikidataQ56419283 ScholiaQ56419283MaRDI QIDQ636475

S. P. Sharma, Vikas Panwar, Naveen Kumar, Nagarajan Sukavanam, Jin-Hwan Borm

Publication date: 28 August 2011

Published in: Mathematical and Computer Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mcm.2011.01.014

zbMATH Keywords

Lyapunov stabilityfeedforward neural networkredundant manipulatorssubtask tracking

Mathematics Subject Classification ID

Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

Related Items (6)

Neural network based control scheme for redundant robot manipulators subject to multiple self-motion criteria ⋮ Neural network‐based adaptive region tracking control for robot manipulator systems with uncertain kinematics and dynamics ⋮ Robust decentralized force/position fault-tolerant control for constrained reconfigurable manipulators without torque sensing ⋮ Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator ⋮ Region-based flocking control for networked robotic systems with communication delays ⋮ Group Consensus Control in Uncertain Networked Euler-Lagrange Systems Based on Neural Network Strategy

Cites Work

• Multilayer feedforward networks are universal approximators
• Robust adaptive control of redundant manipulators
• Modeling and adaptive control of redundant robots
• Dynamic control of redundant manipulators
• Adaptive Jacobian Tracking Control of Robots With Uncertainties in Kinematic, Dynamic and Actuator Models

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