Stable Sampled-data Adaptive Control of Robot Arms Using Neural Networks
Journal of Intelligent and Robotic Systems
Robust Backstepping Control of Robotic Systems Using Neural Networks
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Adaptive Feedback Linearization Using Efficient Neural Networks
Journal of Intelligent and Robotic Systems
Systems Analysis Modelling Simulation
Journal of Intelligent and Robotic Systems
Robust Recurrent Neural Network Control of Biped Robot
Journal of Intelligent and Robotic Systems
Brief paper: An adaptive neuro-fuzzy tracking control for multi-input nonlinear dynamic systems
Automatica (Journal of IFAC)
A Miniature Robot System with Fuzzy Wavelet Basis Neural Network Controller
ICIC '08 Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Artificial Intelligence
Neural Control of Uncertain Nonlinear Systems with Minimum Control Effort
ISNN '08 Proceedings of the 5th international symposium on Neural Networks: Advances in Neural Networks
TOPN Based Temporal Performance Evaluation Method of Neural Network Based Robot Controller
ISNN '08 Proceedings of the 5th international symposium on Neural Networks: Advances in Neural Networks, Part II
Robotic Agent Control Based on Adaptive Intelligent Algorithm in Ubiquitous Networks
KES-AMSTA '07 Proceedings of the 1st KES International Symposium on Agent and Multi-Agent Systems: Technologies and Applications
A Neuro-Sliding Mode Control Scheme for Constrained Robots with Uncertain Jacobian
Journal of Intelligent and Robotic Systems
Asymptotic Adaptive Neural Network Tracking Control of Nonholonomic Mobile Robot Formations
Journal of Intelligent and Robotic Systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Fuzzy Systems
IEEE Transactions on Neural Networks
Neural network control of multifingered robot hands using visual feedback
IEEE Transactions on Neural Networks
Reinforcement learning and adaptive dynamic programming for feedback control
IEEE Circuits and Systems Magazine
Online actor critic algorithm to solve the continuous-time infinite horizon optimal control problem
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
Protection ellipsoids for stability analysis of feedforward neural-net controllers
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
Online actor-critic algorithm to solve the continuous-time infinite horizon optimal control problem
Automatica (Journal of IFAC)
IEEE Transactions on Robotics
Study of the airway resistance of a micro robot system for direct tracheal inspection
LSMS/ICSEE'10 Proceedings of the 2010 international conference on Life system modeling and simulation and intelligent computing, and 2010 international conference on Intelligent computing for sustainable energy and environment: Part III
Neuro-adaptive force/position control with prescribed performance and guaranteed contact maintenance
IEEE Transactions on Neural Networks
Performance analysis of adaptive neural network frequency controller for thermal power systems
ACMOS'07 Proceedings of the 9th WSEAS international conference on Automatic control, modelling and simulation
Neuro-adaptive motion control with velocity observer in operational space formulation
Robotics and Computer-Integrated Manufacturing
Comparison of neural network robot models with not inverted and inverted inertia matrix
ICANN'05 Proceedings of the 15th international conference on Artificial neural networks: formal models and their applications - Volume Part II
Control of robot manipulators in task-space under uncertainties using neural network
International Journal of Intelligent Engineering Informatics
Direct adaptive control for a class of uncertain nonlinear systems using neural networks
ICNC'05 Proceedings of the First international conference on Advances in Natural Computation - Volume Part II
Adaptive neural control for a class of MIMO non-linear systems with guaranteed transient performance
ISNN'06 Proceedings of the Third international conference on Advnaces in Neural Networks - Volume Part II
Position control based on static neural networks of anthropomorphic robotic fingers
ICANN'06 Proceedings of the 16th international conference on Artificial Neural Networks - Volume Part I
Stability analysis and performance evaluation of an adaptive neural controller
ISNN'05 Proceedings of the Second international conference on Advances in Neural Networks - Volume Part III
Neural networks robust adaptive control for a class of MIMO uncertain nonlinear systems
ISNN'05 Proceedings of the Second international conference on Advances in Neural Networks - Volume Part III
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
Brief Intelligent optimal control of robotic manipulators using neural networks
Automatica (Journal of IFAC)
Neural network adaptive robust control of nonlinear systems in semi-strict feedback form
Automatica (Journal of IFAC)
Stable adaptive neuro-control design via Lyapunov function derivative estimation
Automatica (Journal of IFAC)
ICAISC'12 Proceedings of the 11th international conference on Artificial Intelligence and Soft Computing - Volume Part II
Hi-index | 0.01 |
A neural net (NN) controller for a general serial-link robot arm is developed. The NN has two layers so that linearity in the parameters holds, but the “net functional reconstruction error” and robot disturbance input are taken as nonzero. The structure of the NN controller is derived using a filtered error/passivity approach, leading to new NN passivity properties. Online weight tuning algorithms including a correction term to backpropagation, plus an added robustifying signal, guarantee tracking as well as bounded NN weights. The NN controller structure has an outer tracking loop so that the NN weights are conveniently initialized at zero, with learning occurring online in real-time. It is shown that standard backpropagation, when used for real-time closed-loop control, can yield unbounded NN weights if (1) the net cannot exactly reconstruct a certain required control function or (2) there are bounded unknown disturbances in the robot dynamics. The role of persistency of excitation is explored