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• W2587230249 abstract "In this paper neural network based adaptive controller has been designed for underactuated systems. To control the actuated joint variables collocated partial feedback linearization is used while the unactuated joint variables are controlled using non-collocated partial feedback linearization. Radial Basis Function Networks are used for approximation of inertia, friction, gravitation, centrifugal and coriolis terms. The online weight update law is derived using Lyapunov analysis. The control algorithm is tested by simulation of cart-pole system and hardware implementation on Furuta pendulum system." @default.
• W2587230249 created "2017-02-17" @default.
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• W2587230249 date "2017-01-01" @default.
• W2587230249 modified "2023-09-22" @default.
• W2587230249 title "Adaptive control of underactuated systems using neural networks" @default.
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• W2587230249 doi "https://doi.org/10.1109/indiancc.2017.7846446" @default.
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