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Centralized and decentralized neural-network sliding-mode robot controllerŠafarič, Riko ; Jezernik, KarelThe 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).Source: Advanced fuzzy-neural control : preprints (Str. 179-184)Type of material - conference contributionPublish date - 2001Language - englishCOBISS.SI-ID - 6697238
Author
Šafarič, Riko |
Jezernik, Karel
Topics
neural networks |
sliding-mode controller |
adaptive robot
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Database name | Field | Year |
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Šafarič, Riko | 06824 |
Jezernik, Karel | 03018 |
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