Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations
A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/694706 |