Journal
IEEE TRANSACTIONS ON NEURAL NETWORKS
Volume 12, Issue 5, Pages 1121-1133Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/72.950141
Keywords
closed-loop stability; disturbance rejection; dynamics interaction; mobile manipulator; neural networks (NNs); parameter uncertainty
Ask authors/readers for more resources
In this paper, a neural network (NN)-based methodology is developed for the motion control of mobile manipulators subject to kinematic constraints. The dynamics of the mobile manipulator is assumed to be completely unknown, and is identified on-line by the NN estimators. No preliminary learning stage of NN weights is required. The controller is capable of disturbance-rejection in the presence of unmodeled bounded disturbances. The tracking stability of the closed-loop system, the convergence of the NN weight-updating process and boundedness of NN weight estimation errors are all guaranteed. Experimental tests on a four-DOF manipulator arm illustrate that the proposed controller significantly improves the performance in comparison with conventional robust control.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available