A neuro-adaptive controller for the force/position tracking of a robot manipulator under model uncertainties in compliance and friction
2006 (English)In: Proceedings of 2006 Mediterranean Conference on Control and Automation, Vols 1 and 2, NEW YORK: IEEE , 2006, 75-80 p.Conference paper (Refereed)
In this work, we consider the force and position trajectory tracking for a robot manipulator in compliant contact with a surface in the presence of unknown stiffness and dynamic friction. A novel neuro-adaptive controller is proposed that exploits the approximation capabilities of the linear in the weights neural networks and the uniform ultimate boundedness of force and position error is proved. Simulation results illustrate the performance of the proposed controller.
Place, publisher, year, edition, pages
NEW YORK: IEEE , 2006. 75-80 p.
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50974DOI: 10.1109/MED.2006.328804ISI: 000243663000015ISBN: 978-0-9786720-1-0OAI: oai:DiVA.org:kth-50974DiVA: diva2:463124
14th Mediterranean Conference on Control and Automation. Ancona, ITALY. JUN 28-30, 2006
QC 201112122011-12-082011-12-082011-12-12Bibliographically approved