zur Startseite der DMG-Lib
Home  · Übersicht  · Kontakt  ·
Startseite + Aktuelles
Stöbern
Suche
DMG-Lib erleben
Über uns
Hilfe
 		 
Erweiterte Suche   Mechanismensuche

Decentralized Neural Backstepping Control Applied to a Robot Manipulator : Controllo neurale retroattivo decentralizato applicato a un manipolatore robotico, in: International Journal of Advanced Robotic Systems
thumbnail
Dokument öffnen (benötigt JavaScript)   Dokument öffnen

Allgemeine Angaben
Autor Garcia-Hernandez, Ramon; Ruz-Hernandez, Jose A.; Rullan-Lara, Jose L.
Erschienen  InTech Open Access Publisher, 2013
Ausgabe  
Umfang  
ISBN
Kurzbeschreibung This paper presents a discrete‐time
decentralized control scheme for trajectory tracking of a
two degrees of freedom (DOF) robot manipulator. A high
order neural network (HONN) is used to approximate a
decentralized control law designed by the backstepping
technique as applied to a block strict feedback form
(BSFF). The weights for each neural network are adapted
online by an extended Kalman filter training algorithm.
The motion for each joint is controlled independently
using only local angular position and velocity
measurements. The stability analysis for the closed‐loop
system via the Lyapunov approach is included. Finally,
the real‐time results show the feasibility of the proposed
control scheme using a robot manipulator.
Sammlungen
Zeitschriftenartikel
ab 2000
Übergeordnete Werke
 
no fulltext found International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Erschienen: 2004
Verknüpfte Datensätze
Dokumente: International Journal of Advanced Robotic Systems
Permanentlinks
DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=32416009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_32416009.html
PDF FaviconPDF  Decentralized Neural Backstepping Control Applied to a Robot Manipulator
Datenbereitsteller
UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
Verwaltungsinformationen
Publikationsdatum 2013
Lizenzinformation Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

nach oben nach oben
Impressum  · Datenschutz  · Nutzungsbedingungen      
×