Referenced Items are not available for this document.
The paper considers tracking control of robots in joint space. A new control algorithm is proposed based on the well known computed torque method and a compensating controller. The compensating controller is realized by using a switch type structure and an RBF neural network. It is shown that stability of the closed loop system and better tracking performance can be established based on Lyapunov theory. Simulation results are also provided to support our analysis
Published in:
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
(Volume:27
,
Issue:
3
)
Date of Publication: Jun 1997
- Page(s):
- 510 - 516
- ISSN :
- 1083-4419
- INSPEC Accession Number:
- 5593012
- Digital Object Identifier :
- 10.1109/3477.584957
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Jun 1997
- Sponsored by :
- IEEE Systems, Man, and Cybernetics Society
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
