Please use this identifier to cite or link to this item: https://doi.org/10.1243/095965103321512819
Title: Neural network control design for a rigid-link electrically driven robot
Authors: Huang, S.N. 
Tan, K.K. 
Lee, T.H. 
Keywords: Back-stepping control
Control systems
Neural network
Rigid-link electrically driven robot
Issue Date: 2003
Source: Huang, S.N., Tan, K.K., Lee, T.H. (2003). Neural network control design for a rigid-link electrically driven robot. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering 217 (2) : 99-107. ScholarBank@NUS Repository. https://doi.org/10.1243/095965103321512819
Abstract: In this paper, a back-stepping scheme for rigid-link electrically driven (RLED) robot systems is proposed. A two-step controller is presented: the first step is a virtual controller, while the second step is an actual one. A neural network is used to approximate the unknown non-linear dynamics in the system. The stability can be guaranteed by using a rigid proof. A simulation is used to illustrate the effectiveness of the proposed algorithm.
Source Title: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
URI: http://scholarbank.nus.edu.sg/handle/10635/56782
ISSN: 09596518
DOI: 10.1243/095965103321512819
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