DocumentCode
1393478
Title
Modified optimal control with a back propagation network for robotic arms
Author
Rubio, J.J.
Author_Institution
Seccion de Estudios de Posgrado e Investig., Inst. Politec. Nac. ESIME Azcapotzalco, Mexico City, Mexico
Volume
6
Issue
14
fYear
2012
Firstpage
2216
Lastpage
2225
Abstract
In this study, the trajectory tracking problem of robotic arms is considered. To solve this problem, two novel modified optimal controllers based on neural networks are proposed. The uniform stability of both the tracking error and approximation error for the aforementioned controllers is guaranteed by means of a Lyapunov-like analysis. The effectiveness of the proposed controllers is verified by simulations.
Keywords
Lyapunov methods; adaptive control; approximation theory; backpropagation; manipulators; neurocontrollers; optimal control; stability; tracking; trajectory control; Lyapunov-like analysis; adaptive network; approximation error; backpropagation network; modified optimal controller; neural network; robotic arms; tracking error; trajectory tracking problem; uniform stability;
fLanguage
English
Journal_Title
Control Theory & Applications, IET
Publisher
iet
ISSN
1751-8644
Type
jour
DOI
10.1049/iet-cta.2011.0322
Filename
6401233
Link To Document