Adaptive neural network control of coordinated manipulators

Coordinated control of multiple manipulators has attracted the attention of many researchers. To deal with the uncertainties in the dynamics, several adaptive and robust coordinated control schemes have been proposed. Some previous works have successfully incorporated adaptive techniques by using a suitable neural network to directly parameterize the controller. As a result, adaptive enhancements are introduced to the neural network controllers to improve their robustness to parameter uncertainties and model changes. In this paper, the neural network modeling technique proposed in Ge, Hang, and Woon (1997) is extended to coordinated control of multiple robot manipulators