COMBINED ADAPTIVE-ROBUST AND NEURAL NETWORK CONTROL OF TWO RLED COOPERATING ROBOTS USING BACKSTEPPING DESIGN

摘要

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.