Neural Network Control Of Robot Manipulators And Non-Linear Systems

F W Lewis, S. Jagannathan (Caterpillar Inc., Mossville, Illinois, USA), A Yesildirak , A. Yesildirak

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English

Taylor & Francis Ltd
30 November 1998

Robotics; Neural networks & fuzzy systems

Series: Series in Systems and Control

"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."

By: F W Lewis, S. Jagannathan (Caterpillar Inc., Mossville, Illinois, USA), A Yesildirak, A. Yesildirak
Imprint: Taylor & Francis Ltd
Country of Publication: United Kingdom
Dimensions: Height: 254mm, Width: 178mm, Spine: 27mm
Weight: 1.020kg
ISBN: 9780748405961
ISBN 10: 0748405968
Series: Series in Systems and Control
Pages: 466
Publication Date: 30 November 1998
Audience: College/higher education , Professional and scholarly , Further / Higher Education , Undergraduate
Format: Hardback
Publisher's Status: Active

F W Lewis (Author) , S. Jagannathan (Author) , A Yesildirak (Author)