Model-based compensation and comparison of neural network controllers for uncertainties of robotic arms

DOI10.1049/IP-CTA:19951861MaRDI QIDQ4859795zbMATH OpenOpenAlexFDO

Authors S. M. Ziauddin, A. M. S. Zalzala

Publication date 18 July 1996

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1049/ip-cta:19951861

zbMATH Keywords

adaptivedecoupleneural networkrobotic manipulatorsuncertainties

Mathematics Subject Classification ID

Neural networks for/in biological studies, artificial life and related topics (92B20) Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85)

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(3)

• Simulation of neural network based adaptive compensator control scheme for multiple mobile manipulators with uncertainties
• An uncertainty inversion technique using two-way neural network for parameter identification of robot arms
• Motion trajectory error of robotic arm based on neural network algorithm

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