Centralized neural-network sliding-mode direct-drive robot controller /
The Lyapunov based theoretical development of a direct-drive neural-network robot controller is shown in the paper. Dreived equations of the adaptive neural-network sliding-mode controller were verified on a real laboratory direct-drive 3.D.O.F. PUMA like mechanism. The neural network continuous sli...
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| Main Authors: | , |
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| Format: | Book Chapter |
| Jezik: | English |
| Teme: | |
| Sorodne knjige/članki: | Vsebovano v:
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| Izvleček: | The Lyapunov based theoretical development of a direct-drive neural-network robot controller is shown in the paper. Dreived equations of the adaptive neural-network sliding-mode controller were verified on a real laboratory direct-drive 3.D.O.F. PUMA like mechanism. The neural network continuous sliding-mode controller was successfully tested for an adaptation capability of the algorithm for sudden changes in the manipulator dynamics (load). |
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| Fizični opis: | Str. 37-42. |
| Bibliografija: | Bibliografija: str. 41-42. Abstract. |