期刊
AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY
卷 88, 期 1, 页码 137-150出版社
EMERALD GROUP PUBLISHING LTD
DOI: 10.1108/AEAT-09-2014-0150
关键词
Backstepping; Electrically driven robot manipulator (EDRM); Linear in parameter (LIP); Robust adaptive neural network (RANN)
Purpose - The purpose of the proposed research methodology is to control the trajectory tracking of EDRM and also to cancel out the effect of no-smooth nonlinearities, which affect the system performance badly. Design/methodology/approach - Robust adaptive neural network (RANN)-based backstepping control design methodology is presented in this paper. The proposed design methodology improves the trajectory tracking and running mean error. Findings - The running mean error results show that the convergence of the proposed RANN-based backstepping technique is very fast as compare to the conventional PD control and due to this proposed control technique, the EDRM follows its desired trajectory perfectly. Practical implications - The EDRM trajectory tracking performance increases which leads to a better working position of EDRM. Originality/value - The originality of this research article is 93 per cent.
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