Robust Neural Networks Compensating Motion Control of Reconfigurable Manipulator


There are many uncertainties in real dynamics system of reconfigurable manipulator that makes PID etc. traditional methods control imprecisely. Thus, in this paper, to enhance computed torque control (CTC) based method, robust neural networks (RNN) compensating control scheme is developed to compensate structured and unstructured uncertainties. The… (More)
DOI: 10.1109/ICICIC.2006.342


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