Multilayer feedforward networks are universal approximators
Neural Networks
Adaptive motion control of rigid robots: a tutorial
Automatica (Journal of IFAC) - Identification and systems parameter estimation
Telerobotics, automation, and human supervisory control
Telerobotics, automation, and human supervisory control
Neural networks for control systems: a survey
Automatica (Journal of IFAC)
Year 2000 Solutions for Dummies
Year 2000 Solutions for Dummies
Neural Network Control of Robot Manipulators and Nonlinear Systems
Neural Network Control of Robot Manipulators and Nonlinear Systems
Control of Robot Manipulators
Time-Delay Systems: Analysis, Optimization and Applications
Time-Delay Systems: Analysis, Optimization and Applications
Multilayer neural-net robot controller with guaranteed tracking performance
IEEE Transactions on Neural Networks
High-order neural network structures for identification of dynamical systems
IEEE Transactions on Neural Networks
Economical implementation of control loops for multi-robot systems
ICONIP'08 Proceedings of the 15th international conference on Advances in neuro-information processing - Volume Part I
Neuronal implementation of predictive controllers
HAIS'10 Proceedings of the 5th international conference on Hybrid Artificial Intelligence Systems - Volume Part II
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This paper extends the Smith Predictor feedback control structure to unknown robotic systems in a rigorous fashion. A new recurrent neural net predictive control (RNNPC) strategy is proposed to deal with input and feedback time delays in telerobotic systems. The proposed control structure consists of a local linearized subsystem and a remote predictive controller. In the local linearized subsystem, a recurrent neural network (RNN) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant. The remote controller is a modified Smith predictor for the local linearized subsystem which provides prediction and maintains the desirable tracking performance. Stability analysis is given in the sense of Lyapunov. The result is an adaptive compensation scheme for unknown telerobotic systems with time delays, uncertainties, and external disturbances. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of the proposed control strategy.