Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
A neuro-adaptive controller for the force/position tracking of a robot manipulator under model uncertainties in compliance and friction
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.ORCID iD: 0000-0001-5129-342X
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
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, Published paper (Refereed)
Abstract [en]

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.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-50974DOI: 10.1109/MED.2006.328804ISI: 000243663000015ISBN: 978-0-9786720-1-0 (print)OAI: oai:DiVA.org:kth-50974DiVA: diva2:463124
Conference
14th Mediterranean Conference on Control and Automation. Ancona, ITALY. JUN 28-30, 2006
Note
QC 20111212Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2011-12-12Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Authority records BETA

Karayiannidis, Yiannis

Search in DiVA

By author/editor
Karayiannidis, Yiannis
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 25 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf