On Neural Control of a Manipulator with Output Feedback
[ 1 ] Instytut Sterowania i Inżynierii Systemów (ISt), Wydział Informatyki i Zarządzania, Politechnika Poznańska | [ P ] pracownik
2002
referat
angielski
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.
57 - 60