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Adaptive H Tracking Control Design via Neural Networks of a Constrained Robot System

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3 Author(s)
Petronilho, A. ; Electrical Engineering Department - University of São Paulo at São Carlos, C.P.359, São Carlos, SP, 13560-970, Brazil E-mail: ; Siqueira, A.A.G. ; Terra, M.H.

In this paper, a nonlinear adaptive neural network tracking control with a guaranteed Hperformance is proposed for a constrained robot manipulator with plant uncertainties. The neural network is used to learn the unknown dynamics by an adaptive algorithm. Moreover, a force sensor is built to measure the forces and torques between the experimental robot UArm II end-effector and the environment. Finally, results obtained from the implementation of the proposed controller in the manipulator UArm II, under a constrained movement, are presented.

Published in:

Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on

Date of Conference:

15-15 Dec. 2005