MANIPULATION
COMBINED ADAPTIVE-ROBUST AND NEURAL NETWORK CONTROL OF TWO RLED COOPERATING ROBOTS USING BACKSTEPPING DESIGN
Hamed Jafarian, Mohammad Eghtesad, Ali Tavasoli
- Year
- 2008
- Citations
- 2
Abstract
In this paper, a combined adaptive-robust and neural networkcontrol based on backstepping design is proposed for trajectorytracking of two 6-DOF rigid link electrically driven (RLED) elbowrobot manipulators moving a rigid object when actuator dynamicsis also considered in the system dynamics.
Keywords
BacksteppingControl theory (sociology)Computer scienceActuatorArtificial neural networkControl engineeringAdaptive controlObject (grammar)Robot manipulatorRobot
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