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|Title:||Neural network control design for a rigid-link electrically driven robot|
|Authors:||Huang, S.N. |
Rigid-link electrically driven robot
|Citation:||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|
|Appears in Collections:||Staff Publications|
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