Cart (Loading....) | Create Account
Close category search window
 

Neural network-based tracking control for robotic systems using only position feedback

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Chang, Y.-C. ; Dept. of Electr. Eng., Kung-Shan Inst. of Technol., Tainan Hsien, Taiwan

An adaptive neural network-based position feedback tracking control scheme for robotic systems involving plant uncertainties and external disturbances is proposed. The developed controller is based on a neural network system and a linear reduced-order observer. The resulting closed-loop system guarantees a transient and asymptotic performance, in the sense that the tracking error locally converges to a small region around zero in terms of L bound and H performance. The implementation of the neural network basis functions depends only on the desired reference information. Only position measurements are required for the feedback, and the developed controller is driven by the position tracking error. Consequently, the adaptive neural network-based controller developed possesses the properties of computational simplicity and easy implementation. Finally, a simulation example is provided to illustrate the tracking performance of a two-link robotic manipulator

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:148 ,  Issue: 1 )

Date of Publication:

Jan 2001

Need Help?


IEEE Advancing Technology for Humanity 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 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.