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Neural Network Control Of Robot Manipulators And Non-Linear Systems : Series in Systems and Control - F. W. Lewis

Neural Network Control Of Robot Manipulators And Non-Linear Systems

Series in Systems and Control

Hardcover Published: 1st November 1998
ISBN: 9780748405961
Number Of Pages: 468

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There has been great interest in universal controllers that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics.
The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.

Background on Neural Networks
Background on Dynamic Systems
Robot Dynamics and Control
Neural Network Robot Control: Applications and Extensions
Neural Network Control of Non-linear Systems
Neural Network Control with Discrete-time Feedback Linearization by Neural Networks
System Identification Using Discrete-time Neural Networks
Table of Contents provided by Publisher. All Rights Reserved.

ISBN: 9780748405961
ISBN-10: 0748405968
Series: Series in Systems and Control
Audience: Professional
Format: Hardcover
Language: English
Number Of Pages: 468
Published: 1st November 1998
Publisher: CRC PR INC
Country of Publication: GB
Dimensions (cm): 25.4 x 10.8  x 3.18
Weight (kg): 1.05
Edition Number: 1