Adaptive Neural Network Control Of Robotic Manipulators
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Adaptive Neural Network Control Of Robotic Manipulators
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Author : Shuzhi S. Ge
language : en
Publisher: World Scientific Series In Robotics And Intelligent Systems
Release Date : 1998
Adaptive Neural Network Control Of Robotic Manipulators written by Shuzhi S. Ge and has been published by World Scientific Series In Robotics And Intelligent Systems this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998 with Technology & Engineering categories.
Recently, there has been considerable research interest in neural network control of robots, and satisfactory results have been obtained in solving some of the special issues associated with the problems of robot control in an "on-and-off" fashion. This book is dedicated to issues on adaptive control of robots based on neural networks. The text has been carefully tailored to (i) give a comprehensive study of robot dynamics, (ii) present structured network models for robots, and (iii) provide systematic approaches for neural network based adaptive controller design for rigid robots, flexible joint robots, and robots in constraint motion. Rigorous proof of the stability properties of adaptive neural network controllers is provided. Simulation examples are also presented to verify the effectiveness of the controllers, and practical implementation issues associated with the controllers are also discussed.
Adaptive Neural Network Control Of Robotic Manipulators
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Author : Sam Shuzhi Ge
language : en
Publisher: World Scientific
Release Date : 1998-12-04
Adaptive Neural Network Control Of Robotic Manipulators written by Sam Shuzhi Ge and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998-12-04 with Technology & Engineering categories.
Recently, there has been considerable research interest in neural network control of robots, and satisfactory results have been obtained in solving some of the special issues associated with the problems of robot control in an “on-and-off” fashion. This book is dedicated to issues on adaptive control of robots based on neural networks. The text has been carefully tailored to (i) give a comprehensive study of robot dynamics, (ii) present structured network models for robots, and (iii) provide systematic approaches for neural network based adaptive controller design for rigid robots, flexible joint robots, and robots in constraint motion. Rigorous proof of the stability properties of adaptive neural network controllers is provided. Simulation examples are also presented to verify the effectiveness of the controllers, and practical implementation issues associated with the controllers are also discussed.
Adaptive Neural Network Control Of Robotic Manipulators
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Author : Tong Heng Lee
language : en
Publisher: World Scientific
Release Date : 1998
Adaptive Neural Network Control Of Robotic Manipulators written by Tong Heng Lee and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998 with categories.
Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.
Neural Network Control Of Robot Manipulators And Non Linear Systems
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Author : F W Lewis
language : en
Publisher: CRC Press
Release Date : 2020-08-13
Neural Network Control Of Robot Manipulators And Non Linear Systems written by F W Lewis and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-08-13 with Technology & Engineering categories.
There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics. The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.
Adaptive Control Of Robot Manipulators
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Author : An-Chyau Huang
language : en
Publisher: World Scientific
Release Date : 2010
Adaptive Control Of Robot Manipulators written by An-Chyau Huang and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Technology & Engineering categories.
This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.
Robot Manipulator Control
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Author : Frank L. Lewis
language : en
Publisher: CRC Press
Release Date : 2003-12-12
Robot Manipulator Control written by Frank L. Lewis and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-12-12 with Technology & Engineering categories.
Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.
Control Of Robot Manipulators
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Author : Frank L. Lewis
language : en
Publisher: MacMillan Publishing Company
Release Date : 1993
Control Of Robot Manipulators written by Frank L. Lewis and has been published by MacMillan Publishing Company this book supported file pdf, txt, epub, kindle and other format this book has been release on 1993 with Technology & Engineering categories.
Ai Based Robot Safe Learning And Control
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Author : Xuefeng Zhou
language : en
Publisher: Springer Nature
Release Date : 2020-06-02
Ai Based Robot Safe Learning And Control written by Xuefeng Zhou and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-06-02 with Technology & Engineering categories.
This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors’ papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities.
Advanced Sliding Mode Control For Mechanical Systems
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Author : Jinkun Liu
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-09-07
Advanced Sliding Mode Control For Mechanical Systems written by Jinkun Liu and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-09-07 with Technology & Engineering categories.
"Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation" takes readers through the basic concepts, covering the most recent research in sliding mode control. The book is written from the perspective of practical engineering and examines numerous classical sliding mode controllers, including continuous time sliding mode control, discrete time sliding mode control, fuzzy sliding mode control, neural sliding mode control, backstepping sliding mode control, dynamic sliding mode control, sliding mode control based on observer, terminal sliding mode control, sliding mode control for robot manipulators, and sliding mode control for aircraft. This book is intended for engineers and researchers working in the field of control. Dr. Jinkun Liu works at Beijing University of Aeronautics and Astronautics and Dr. Xinhua Wang works at the National University of Singapore.
Applications Of Neural Adaptive Control Technology
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Author : Jens Kalkkuhl
language : en
Publisher: World Scientific
Release Date : 1997
Applications Of Neural Adaptive Control Technology written by Jens Kalkkuhl and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with Technology & Engineering categories.
This book presents the results of the second workshop on Neural Adaptive Control Technology, NACT II, held on September 9-10, 1996, in Berlin. The workshop was organised in connection with a three-year European-Union-funded Basic Research Project in the ESPRIT framework, called NACT, a collaboration between Daimler-Benz (Germany) and the University of Glasgow (Scotland).The NACT project, which began on 1 April 1994, is a study of the fundamental properties of neural-network-based adaptive control systems. Where possible, links with traditional adaptive control systems are exploited. A major aim is to develop a systematic engineering procedure for designing neural controllers for nonlinear dynamic systems. The techniques developed are being evaluated on concrete industrial problems from within the Daimler-Benz group of companies.The aim of the workshop was to bring together selected invited specialists in the fields of adaptive control, nonlinear systems and neural networks. The first workshop (NACT I) took place in Glasgow in May 1995 and was mainly devoted to theoretical issues of neural adaptive control. Besides monitoring further development of theory, the NACT II workshop was focused on industrial applications and software tools. This context dictated the focus of the book and guided the editors in the choice of the papers and their subsequent reshaping into substantive book chapters. Thus, with the project having progressed into its applications stage, emphasis is put on the transfer of theory of neural adaptive engineering into industrial practice. The contributors are therefore both renowned academics and practitioners from major industrial users of neurocontrol.