TY - GEN
T1 - On robot motion control via adaptive neural networks
AU - Puga, S.
AU - Moreno-Valenzuela, J.
AU - Santibanez, V.
PY - 2012
Y1 - 2012
N2 - In this paper, a nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired applied torque, a neural network is used. Then, adaptation laws for the input and output weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the input and output weights of the neural network are showed to be uniformly bounded. The proposed scheme has been experimentally validated in real time in a horizontal two degrees-of-freedom robot Experimental results confirmed the practical feasibility of the proposed adaptive neural network-based controller.
AB - In this paper, a nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired applied torque, a neural network is used. Then, adaptation laws for the input and output weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the input and output weights of the neural network are showed to be uniformly bounded. The proposed scheme has been experimentally validated in real time in a horizontal two degrees-of-freedom robot Experimental results confirmed the practical feasibility of the proposed adaptive neural network-based controller.
UR - http://www.scopus.com/inward/record.url?scp=84874439016&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2012.6421216
DO - 10.1109/ICEEE.2012.6421216
M3 - Contribución a la conferencia
AN - SCOPUS:84874439016
SN - 9781467321686
T3 - CCE 2012 - 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control
BT - CCE 2012 - 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control
T2 - 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2012
Y2 - 26 September 2012 through 28 September 2012
ER -