On the Adaptive Neural Network Control of Robot Manipulators

摘要

developed for the trajectory tracking of robot manipulators with parameter uncertainty and outside disturbance. A functional-link neural network is used to approximate a unknown function. And a new network weight tuning law is given which is different to the existing σ-modification method. The proposed robust neural network controller based on this new tuning law can guarantee not only the boundedness of network weight but also the asymptotic stability of the tracking error. The numerical experiment shows that the proposed method is feasible and efficient.