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Neuro-adaptive control of mobile manipulators based on compensation of approximation error

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3 Author(s)
Choon-Young Lee ; Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea ; Tae-Dok Eom ; Ju-Jang Lee

A stable adaptive control method based on neural networks is proposed for mobile manipulators. Adaptive compensation of the approximation error of a neural network based on a priori knowledge on the dynamic form of the system is considered without knowing the system parameters exactly

Published in:

Electronics Letters  (Volume:38 ,  Issue: 16 )