Two-degree-of-freedom robot neurocontroller
- 1 January 1990
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 3260-3264 vol.6
- https://doi.org/10.1109/cdc.1990.203397
Abstract
The performance of a two-degree-of-freedom robot neurocontroller is described. The main theorem suggests that global asymptotic stability is guaranteed despite the highly nonlinear nature of the closed-loop dynamics. Examples demonstrating the applicability of the neurocontroller are provided. It is concluded that a two-degree-of-freedom robot neurocontroller provides opportunities for noise filtering and disturbance rejection not available with a constant-gain servo neurocontroller.Keywords
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