Adaptive robust neural control of a two-manipulator system holding a rigid object with inaccurate base frame parameters

Author:

Xu Fan,Wang JinORCID,Lu Guo-dong

Funder

National Natural Science Foundation of China

the National Key R&D Program of China

the Fundamental Research Funds for the Central Universities, China

Publisher

Zhejiang University Press

Subject

Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing

Reference31 articles.

1. Aghili F, 2011. Self-tuning cooperative control of manipulators with position/orientation uncertainties in the closedkinematic loop. IEEE/RSJ Int Conf on Intelligent Robots and Systems, p.4187–4193. https://doi.org/10.1109/IROS.2011.6094470

2. Aghili F, 2013. Adaptive control of manipulators forming closed kinematic chain with inaccurate kinematic model. IEEE/ASME Trans Mechatron, 18(5):1544–1554. https://doi.org/10.1109/tmech.2012.2207964

3. Cheah CC, Liu C, Slotine J, 2004. Approximate Jacobian adaptive control for robot manipulators. IEEE Int Conf on Robtics and Automation, p.3075–3080. https://doi.org/10.1109/ROBOT.2004.1307529

4. Cheah CC, Liu C, Slotine JJE, 2006. Adaptive Jacobian tracking control of robots with uncertainties in kinematic, dynamic and actuator models. IEEE Trans Autom Contr, 51(6):1024–1029. https://doi.org/10.1109/TAC.2006.876943

5. Cheng L, Hou ZG, Tan M, 2009. Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model. Automatica, 45(10):2312–2318. https://doi.org/10.1016/j.automatica.2009.06.007

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