Backstepping control using adaptive neural network for industrial two link robot manipulator

• Main Authors: Jamil, M.U., Noor, M.N., Raza, M.Q., Rizvi, S.
• Format: Conference or Workshop Item
• Published: Institute of Electrical and Electronics Engineers Inc. 2014
• Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-84988259092&doi=10.1109%2fINMIC.2014.7097371&partnerID=40&md5=8f12c3a26df4a1cc7e8bab9ac7002276; http://eprints.utp.edu.my/31703/

This paper highlights, neural network (NN) based adaptive control using backstepping control technique is proposed for robot manipulator trajectory tracking. Firstly, the vector of current is considered as the control variable for robot manipulator mechanical subsystem by using the adaptive update a...