Improved tracking control for robots using neural networks
Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45) › 32_Refereed conference paper (with ISBN/ISSN) › peer-review
Author(s)
Detail(s)
| Original language | English |
|---|---|
| Title of host publication | American Control Conference |
| Publisher | Publ by IEEE |
| Pages | 69-73 |
| ISBN (Print) | 780308611 |
| Publication status | Published - 1993 |
| Externally published | Yes |
Conference
| Title | Proceedings of the 1993 American Control Conference Part 3 (of 3) |
|---|---|
| City | San Francisco, CA, USA |
| Period | 2 - 4 June 1993 |
Link(s)
Abstract
The tracking control of robots in joint space is studied in this paper. A new control algorithm is proposed based on the well known computed torque method and a feedforward compensating controller. The function of the feedforward controller, which is realized using an RBF neural network, is to provide high tracking accuracy of robot path following performance. It is demonstrated through simulations that the proposed scheme could achieve much better tracking performance.
Citation Format(s)
Improved tracking control for robots using neural networks. / Feng, Gang.
American Control Conference. Publ by IEEE, 1993. p. 69-73.Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45) › 32_Refereed conference paper (with ISBN/ISSN) › peer-review
