Universal approximation bounds for superpositions of a sigmoidal function
IEEE Transactions on Information Theory
Neural net robot controller with guaranteed tracking performance
IEEE Transactions on Neural Networks
Brief paper: A neural network solution for fixed-final time optimal control of nonlinear systems
Automatica (Journal of IFAC)
Optimal control of uncertain nonlinear systems using a neural network and RISE feedback
ACC'09 Proceedings of the 2009 conference on American Control Conference
Adaptive control of robot manipulators using fuzzy logic systems under actuator constraints
Fuzzy Sets and Systems
A series-based approximate approach of optimal tracking control for nonlinear large-scale systems
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
IEEE Transactions on Fuzzy Systems
Brief paper: Asymptotic optimal control of uncertain nonlinear Euler-Lagrange systems
Automatica (Journal of IFAC)
Application of wavelet networks to adaptive control of robotic manipulators
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Robotics and Computer-Integrated Manufacturing
Hi-index | 22.15 |
The paper is concerned with the application of quadratic optimization for motion control to feedback control of robotic systems using neural networks. Explicit solutions to the Hamilton-Jacobi-Bellman (H-J-B) equation for optimal control of robotic systems are found by solving an algebraic Riccati equation. It is shown how neural networks can cope with nonlinearities through optimization with no preliminary off-line learning phase required. The adaptive learning algorithm is derived from Lyapunov stability analysis, so that both system tracking stability and error convergence can be guaranteed in the closed-loop system. The filtered tracking error or critic gain and the Lyapunov function for the nonlinear analysis are derived from the user input in terms of a specified quadratic performance index. Simulation results on a two-link robot manipulator show the satisfactory performance of the proposed control schemes even in the presence of large modeling uncertainties and external disturbances.