A new stable tracking control scheme for robotic manipulators
Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
Author(s)
Detail(s)
| Original language | English |
|---|---|
| Pages (from-to) | 510-516 |
| Journal / Publication | IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics |
| Volume | 27 |
| Issue number | 3 |
| Publication status | Published - 1997 |
| Externally published | Yes |
Link(s)
Abstract
This paper considers tracking control of robots in joint space. A new control algorithm is proposed based on the well-known computed torque method and a compensating controller. The compensating controller is realized by using a switch-type structure and an RBF neural network. It is shown that stability of the closed loop system and better tracking performance can be established based on Lyapunov theory. Simulation results are also provided to support our analysis. © 1997 IEEE.
Research Area(s)
- Convergence, Neural networks, Robots, Simulation, Tracking control
Citation Format(s)
A new stable tracking control scheme for robotic manipulators. / Feng, Gang.
In: IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol. 27, No. 3, 1997, p. 510-516.Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
