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Centralized and decentralized neural-network sliding-mode robot controller
Šafarič, Riko ; Jezernik, Karel
The Lyapunov stability based theoretical development of direct-drive neural-network robot centralized and decentralized controllers is shown in the paper. Drived equations of both: centralised and ...decentralised approaches of the adaptive neural-network sliding-mode controllers were verified on a real laboratory direct-drive 3.DOF PUMA like mechanism. Both neural network adaptive sliding-mode controllers were successfuly tested for algorithm's adaptation capability for sudden changes in the manipulator dynamics (load).
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