Academic
Publications
Discrete time variable structure control of robotic manipulators based on fully tuned rbf neural networks

Discrete time variable structure control of robotic manipulators based on fully tuned rbf neural networks,10.1109/ISIE.2010.5637729,Maria Letizia Corr

Discrete time variable structure control of robotic manipulators based on fully tuned rbf neural networks  
BibTex | RIS | RefWorks Download
This paper presents a discrete-time variable structure control based on neural networks for a planar robotic manipulator. Radial basis function neural networks are used to learn about uncertainties affecting the system. The learning algorithm combines the growth criterion of the resource allocating network technique with an adaptive extended Kalman filter to update all network parameters. The analysis of the control stability is given and the controller is evaluated on the ERICC robot arm. Simulations show that the proposed controller produces good trajectory tracking performance and is robust in the presence of model inaccuracies.
Published in 2010.
Cumulative Annual
View Publication
The following links allow you to view full publications. These links are maintained by other sources not affiliated with Microsoft Academic Search.