DocumentCode
3075348
Title
Two-degree-of-freedom robot neurocontroller
Author
Guez, Allon ; Bar-Kana, Izhak
Author_Institution
Dept. of Electr. & Comput. Eng., Drexel Univ., Philadelphia, PA, USA
fYear
1990
fDate
5-7 Dec 1990
Firstpage
3260
Abstract
The performance of a two-degree-of-freedom robot neurocontroller is described. The main theorem suggests that global asymptotic stability is guaranteed despite the highly nonlinear nature of the closed-loop dynamics. Examples demonstrating the applicability of the neurocontroller are provided. It is concluded that a two-degree-of-freedom robot neurocontroller provides opportunities for noise filtering and disturbance rejection not available with a constant-gain servo neurocontroller
Keywords
closed loop systems; neural nets; nonlinear control systems; robots; servomechanisms; closed-loop dynamics; constant-gain servo; disturbance rejection; neural nets; neurocontroller; noise filtering; nonlinear control systems; robot; stability; Adaptive control; Equations; Manipulators; Neural networks; Neurocontrollers; Noise measurement; Programmable control; Robot kinematics; Servomechanisms; Zinc compounds;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location
Honolulu, HI
Type
conf
DOI
10.1109/CDC.1990.203397
Filename
203397
Link To Document