Neural adaptive control of two-link manipulator with sliding mode compensation

被引：0
|
作者：
Yu, W [1 ]
Poznyak, AS [1 ]
Sanchez, EN [1 ]
机构：
[1] Inst Politecn Nacl, CINVESTAV, Secc Control Automat, Mexico City 07000, DF, Mexico
来源：
ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS | 1999年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we developed a new neuro controller for robot manipulators. A simple dynamic neural network is used to estimate the unknown robot manipulators, then the direct linearization controller is derived via this neuro identifier. Because the approximation capability is limited, another robust sliding mode compensator is addressed. Our main contributions are: first we give a bound for the identification error of the parallel neuro identifier; second we establish a bound for the tracking error of the hybrid controller.
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页码：3122 / 3127
页数：6
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