Nguyen, T.T. and Van Nguyen, H. and Hoa, T.V. (2014) Synthetic tracking controller for robot manipulator with flexible joints, dynamics of executive motors and affect of disturbance based on radial basic function (RBF) neural network. In: 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, 5 December 2014 through 10 December 2014.
Synthetic tracking controller for robot manipulator with flexible joints, dynamics of executive motors and affect of disturbance based on radial basic function (RBF) neural network.pdf
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Abstract
This paper presents synthetic checking controller for robot manipulator with flexible joints, dynamics of executive motors and affect of disturbance based on radial basic function (RBF) neural network. A control algorithm is synthesized basing on the combination of backsteppping and RBF neural network in order to approximate the unknown functions. Finally, simulation results of a manipulator robot with single flexible joints based on Matlab-Simulink are presented to demonstrate the effectiveness of the proposed control algorithms. © 2014 IEEE.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Divisions: | Faculties > Faculty of Control Engineering |
| Identification Number: | 10.1109/ROBIO.2014.7090541 |
| Uncontrolled Keywords: | Algorithms; Biomimetics; Controllers; Flexible manipulators; Industrial robots; MATLAB; Modular robots; Radial basis function networks; Robot applications; Robots; Flexible joints; Manipulator robots; MATLAB/ SIMULINK; Radial basic function; RBF Neural Network; Robot manipulator; Tracking controller; Manipulators |
| Additional Information: | Conference code: 112021. Language of original document: English. |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/9988 |
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