Adaptive Neural Network Control for Robotic Manipulators With Unknown Deadzone

Abstract

This paper addresses the problem of robotic manipulators with unknown deadzone. In order to tackle the uncertainty and the unknown deadzone effect, we introduce adaptive neural network (NN) control for robotic manipulators. State-feedback control is introduced first and a high-gain observer is then designed to make the proposed control scheme more practical. One radial basis function NN (RBFNN) is used to tackle the deadzone effect, and the other RBFNN is also proposed to estimate the unknown dynamics of robot. The proposed control is then verified on a two-joint rigid manipulator via numerical simulations and experiments.