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• W1601214725 abstract "In this paper a modified PD-like controller for robot manipulator is proposed. Nonlinear compensation terms are added to the PD controller. Since we assume the dynamic of the robot are unknown, RBF neural networks are used to estimate them. The neural compensator does not need off-line learning. The suggested learning laws are similar to the well-known backpropagation algorithm but with some additional terms. A Lyupunov-like analysis is used to derive these stable learning laws, as well as to assured the stability of the closed-loop system." @default.
• W1601214725 created "2016-06-24" @default.
• W1601214725 creator A5000612335 @default.
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• W1601214725 date "2003-01-22" @default.
• W1601214725 modified "2023-09-25" @default.
• W1601214725 title "A modified PD control of robot manipulator using neural network compensator" @default.
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• W1601214725 doi "https://doi.org/10.1109/ijcnn.1999.832691" @default.
• W1601214725 hasPublicationYear "2003" @default.
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