spre pagina principală a DMG-Lib
Acasă  · Harta site-ului  · Contact  ·
DMG-Lib Acasă + Noutăţi
Răsfoire
Căutare
Experimentaţi DMG-Lib
About us
Ajutor
 		 
Căutare avansată   Căutare mecanism

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)   Abrir el documento

Información general
Autor Garcia-Hernandez, Ramon; Ruz-Hernandez, Jose A.; Rullan-Lara, Jose L.
Publicado  InTech Open Access Publisher, 2013
Edición  
Extensión  
ISBN
Abstract 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.
Collections
Artículos en revistas
2000 y posteriores
Superordinate work
 
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, [...]
Publicado: 2004
Linked items
Documents: International Journal of Advanced Robotic Systems
Permanent links
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
Data provider
UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
Administrative information
Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

nach oben arriba
Información corporativa  · Claúsula de Protección de Datos  · Condiciones de uso      
×