Multilayer neural-net robot controller with guaranteed tracking performance

Volume: 7, Issue: 2, Pages: 388 - 399
Published: Mar 1, 1996
Abstract
A multilayer neural-net (NN) controller for a general serial-link rigid robot arm is developed. The structure of the NN controller is derived using a filtered error/passivity approach. No off-line learning phase is needed for the proposed NN controller and the weights are easily initialized. The nonlinear nature of the NN, plus NN functional reconstruction inaccuracies and robot disturbances, mean that the standard delta rule using...
Paper Details
Title
Multilayer neural-net robot controller with guaranteed tracking performance
Published Date
Mar 1, 1996
Volume
7
Issue
2
Pages
388 - 399
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