IEEE - Institute of Electrical and Electronics Engineers, Inc. - Real-time five DOF robot control using a decentralized neural backstepping scheme

2010 IEEE International Symposium on Intelligent Control (ISIC) part of the IEEE Multi-Conference on Systems & Control (MSC)

Author(s): Garcia-Hernandez, R. ; Sanchez, E.N. ; Saad, M. ; Ruz-Hernandez, J.A.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 September 2010
Conference Location: Yokohama, Japan, Japan
Conference Date: 8 September 2010
Page(s): 1,527 - 1,532
ISBN (CD): 978-1-4244-5361-0
ISBN (Paper): 978-1-4244-5360-3
ISSN (CD): pending
ISSN (Paper): pending
DOI: 10.1109/ISIC.2010.5612924
Regular:

This paper presents a discrete-time decentralized control scheme for trajectory tracking of a five degrees of freedom (DOF) redundant robot. A high order neural network (HONN) is used to... View More

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