Original Article

Neural Computing and Applications

, Volume 22, Issue 7, pp 1745-1755

First online:

Stability analysis of robust adaptive hybrid position/force controller for robot manipulators using neural network with uncertainties

  • H. P. SinghAffiliated withDepartment of Mathematics, Indian Institute of Technology Roorkee Email author 
  • , N. SukavanamAffiliated withDepartment of Mathematics, Indian Institute of Technology Roorkee

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The aim of this paper is to design a robust adaptive neural network-based hybrid position/force control scheme for robot manipulators in the presence of model uncertainties and external disturbance. The feedforward neural network employed to learn a highly nonlinear function requires no preliminary learning. The control purposes are to achieve the stability in the sense of Lyapunov for desired interaction force between the end-effector and the environment and to regulate robot tip position in cartesian space. An adaptive compensator is also developed to eliminate the effect of disturbance term of neural network approximation error and external disturbance or unmodeled dynamics etc. A key feature of this compensator is that the prior information of the disturbance bound is not required. Finally, a comparative simulation study with a model-based robust control scheme for a two-link robot manipulator is presented.


Robust hybrid position/force control Lyapunov stability Interaction force Feedforward neural network Adaptive compensator Uncertainty