Aftab, M.S. and Shafiq, M. (2017) Lyapunov function based neural networks for adaptive tracking of robotic arm. International Journal of Materials, Mechanics and Manufacturing, 5 (1). pp. 37-41. ISSN 1793-8198
Abstract
In this paper, we aim to present an adaptive position controller for multiple degree of freedom robotic manipulators. A decentralized approach is presented that utilizes Lyapunov function based artificial neural networks as inverse controllers of the robot’s nonlinear coupled dynamics. The proposed scheme is successfully implemented on the real time control of the TQ MA3000 robotic manipulator. Promising experimental results show the effectiveness of the proposed algorithm in the sense of fast convergence of adaptive tracking error and stability of the closed loop.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 The Author(s). |
Keywords: | Lyapunov function; neural network; adaptive tracking; robotic arm |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 09 Mar 2020 14:15 |
Last Modified: | 09 Mar 2020 14:15 |
Status: | Published |
Publisher: | EJournal Publishing |
Refereed: | Yes |
Identification Number: | 10.18178/ijmmm.2017.5.1.285 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:155025 |