Adaptive PD Neural Network Tracking Control for the Uncertain Robot Manipulator with Unmatched Disturbance

This paper addressed the tracking control problem of the robot manipulator with uncertainties and unmatched disturbance by PD control based on adaptive neural network. Adaptive control methods can deal with the control problem of systems with nonlinear and uncertain dynamics, which use measured data...

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Veröffentlicht in:	IEEE International Conference on Industrial Technology (Online) S. 1 - 6
Hauptverfasser:	Wen, Jingdong, Ren, Ling, Peng, Chenchen, Qi, Runhua
Format:	Tagungsbericht
Sprache:	Englisch
Veröffentlicht:	IEEE 26.03.2025
Schlagworte:	Adaptive control Adaptive Tracking Control Manipulator dynamics Measurement uncertainty Neural networks Nonlinear dynamical systems PD control RBF Neural Network Robot Manipulator Service robots Trajectory Uncertainty
ISSN:	2643-2978
Online-Zugang:	Volltext
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