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14

IJCNN
2000
IEEE

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PD Control of Robot with RBF Networks Compensation

13 years 8 months ago

PD Control of Robot with RBF Networks Compensation

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In this paper the popular PD controller of robot manipulator is modified. RBF neural networks are used to compensate the gravity and fi-iction. No exact knowledge of the robot dynamics is required. The euggeated learning law of neuro compensator is similar to the well-known backpropagation algorithm but wit h addit ional robust terms. Lyapuuov-liie analysis is used to derive the stability of learning algorithm.

Wen Yu, José Antonio Heredia

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IJCNN 2000 | Neural Networks | Popular Pd Controller | RBF Neural Networks | Well-known Backpropagation Algorithm |

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Added	31 Jul 2010
Updated	31 Jul 2010
Type	Conference
Year	2000
Where	IJCNN
Authors	Wen Yu, José Antonio Heredia

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