On Neural Control of a Manipulator with Output Feedback

Waldemar Wróblewski

doi:10.1109/ROMOCO.2002.1177084

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Title

On Neural Control of a Manipulator with Output Feedback

Authors

Waldemar Wróblewski ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Sterowania i Inżynierii Systemów (ISt), Wydział Informatyki i Zarządzania, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2002

Chapter type

paper

Publication language

english

Abstract

EN In this paper, neural network control with output feedback, developed previously is recalled. This control scheme works without direct measuring of joint velocities, but with a neural observer to estimate these velocities. Efficiency of the feedback control presented previously and the optimal feedback control presented is compared in simulations. Both controllers are implemented by using neural networks. Example results for a 2-link planar manipulator are presented.

Pages (from - to)

57 - 60

DOI

10.1109/ROMOCO.2002.1177084

URL

https://ieeexplore.ieee.org/document/1177084

Book

RoMoCo'2002 : Proceedings of the Third International Workshop on Robot Motion and Control, Bukowy Dworek, Poland, 9-11.11.2002 r

Presented on

3rd International Workshop on Robot Motion and Control, RoMoCo'02, 9-11.11.2002, Bukowy Dworek, Poland

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