Stability and robustness analysis of a class of adaptive controllers for robotic manipulators
International Journal of Robotics Research
Neural Network Control of Robot Manipulators and Nonlinear Systems
Neural Network Control of Robot Manipulators and Nonlinear Systems
Hard Disk Drive Servo Systems
Multilayer neural-net robot controller with guaranteed tracking performance
IEEE Transactions on Neural Networks
Adaptive neural control of uncertain MIMO nonlinear systems
IEEE Transactions on Neural Networks
Expert Systems with Applications: An International Journal
Engineering Applications of Artificial Intelligence
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Two novel compensation schemes based on accelerometer measurements to attenuate the effect of external vibrations on mechanical systems are proposed in this paper. The first compensation algorithm exploits the neural network as the feedback-feedforward compensator whereas the second is the neural network feedforward compensator. Each compensation strategy includes a feedback controller and a neural network compensator with the help of a sensor to detect external vibrations. The feedback controller is employed to guarantee the stability of the mechanical systems, while the neural network is used to provide the required compensation input for trajectory tracking. Dynamics knowledge of the plant, disturbances and the sensor is not required. The stability of the proposed schemes is analyzed by the Lyapunov criterion. Simulation results show that the proposed controllers perform well for a hard disk drive system and a two-link manipulator.