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

DOI10.1016/j.mcm.2011.01.014zbMath1219.93079WikidataQ56419283 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 stability; feedforward neural network; redundant manipulators; subtask tracking

Mathematics Subject Classification ID

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

93C85: Automated systems (robots, etc.) in control theory

Related Items

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

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