A compensating scheme for robot tracking based on neural networks

Gang Feng

doi:10.1016/0921-8890(95)00023-9

Author(s)

Gang Feng

Detail(s)

Original language	English
Pages (from-to)	199-206
Journal / Publication	Robotics and Autonomous Systems
Volume	15
Issue number	3
Publication status	Published - Aug 1995
Externally published	Yes

Link(s)

DOI	DOI https://doi.org/10.1016/0921-8890(95)00023-9 Final Published version
	Check@CityULib
Link to Scopus	https://www.scopus.com/record/display.uri?eid=2-s2.0-0029354927&origin=recordpage
Permanent Link	https://scholars.cityu.edu.hk/en/publications/publication(108a9e1f-bb4b-4ac2-a0b0-06df31215c0f).html

Abstract

This paper considers tracking control of robots in joint space. A new control scheme is proposed based on the well-known computed torque method and a neural network based, compensating controller. This scheme takes advantages of the model based control approach and uses the neural network controller to compensate for the robot modelling uncertainties. The neural network is trained on line based on Lyapunov theory and thus its convergence is guaranteed. Simulation results are provided to demonstrate performance of the scheme. © 1995.

Research Area(s)

Computed torque method, Convergence, Neural networks, Robots, Tracking control

Citation Format(s)

[ RIS ] [ BibTeX ]

A compensating scheme for robot tracking based on neural networks. / Feng, Gang.
In: Robotics and Autonomous Systems, Vol. 15, No. 3, 08.1995, p. 199-206.

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

Feng, G 1995, 'A compensating scheme for robot tracking based on neural networks', Robotics and Autonomous Systems, vol. 15, no. 3, pp. 199-206. https://doi.org/10.1016/0921-8890(95)00023-9

Feng, G. (1995). A compensating scheme for robot tracking based on neural networks. Robotics and Autonomous Systems, 15(3), 199-206. https://doi.org/10.1016/0921-8890(95)00023-9

Feng G. A compensating scheme for robot tracking based on neural networks. Robotics and Autonomous Systems. 1995 Aug;15(3):199-206. doi: 10.1016/0921-8890(95)00023-9

Feng, Gang. / A compensating scheme for robot tracking based on neural networks. In: Robotics and Autonomous Systems. 1995 ; Vol. 15, No. 3. pp. 199-206.