Abstract
This paper presents an online neural identification and control scheme in continuous-time for trajectory tracking of a robotic arm evolving in the vertical plane. A recurrent high-order neural network (RHONN) structure in a block strict-feedback form is proposed to identify online in a series-parallel configuration, using the filtered error learning law, the dynamics of the plant. Based on the RHONN identifier structure, a stabilizing controller is derived via integrator backstepping procedure. The performance of the neural control scheme proposed is tested on a two degrees of freedom robotic arm, of our own design and unknown parameters, powered by industrial servomotors.
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This work was supported by CONACYT and TecNM Proyects.
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Jurado, F., Vázquez, L.A., Castañeda, C.E. et al. Neural Block Control via Integrator Backstepping for a Robotic Arm in Real-Time. Neural Process Lett 49, 1139–1155 (2019). https://doi.org/10.1007/s11063-018-9860-2
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DOI: https://doi.org/10.1007/s11063-018-9860-2