Dynamic neural network for adaptive optimal learning of robot motion with guaranteed convergence rate

Chae Wook Chung; Hyun Bae Lee; Tae Yong Kuc; Taek Chong Yi

Dynamic neural network for adaptive optimal learning of robot motion with guaranteed convergence rate

Chae Wook Chung
, Hyun Bae Lee
, Tae Yong Kuc
, Taek Chong Yi

Department of Electronic and Electrical Engineering

Sungkyunkwan University

Research output: Contribution to journal › Conference article › peer-review

Abstract

This paper presents an optimal learning controller for uncertain robot systems which makes use of simple DNN(dynamic neural network) units to estimate uncertain parameters and learn the unknown desired optimal input. With the aid of a Lyapunov function, it is shown that all the error signals in the system are bounded and the robot trajectory converges to the desired one globally exponentially. The effectiveness of the proposed controller is shown by applying the controller to a planar robot manipulator.

Original language	English
Pages (from-to)	1315-1319
Number of pages	5
Journal	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume	2
State	Published - 1996
Event	Proceedings of the 1996 IEEE International Conference on Systems, Man and Cybernetics. Part 4 (of 4) - Beijing, China Duration: 14 Oct 1996 → 17 Oct 1996

Cite this

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title = "Dynamic neural network for adaptive optimal learning of robot motion with guaranteed convergence rate",

abstract = "This paper presents an optimal learning controller for uncertain robot systems which makes use of simple DNN(dynamic neural network) units to estimate uncertain parameters and learn the unknown desired optimal input. With the aid of a Lyapunov function, it is shown that all the error signals in the system are bounded and the robot trajectory converges to the desired one globally exponentially. The effectiveness of the proposed controller is shown by applying the controller to a planar robot manipulator.",

author = "Chung, \{Chae Wook\} and Lee, \{Hyun Bae\} and Kuc, \{Tae Yong\} and Yi, \{Taek Chong\}",

year = "1996",

language = "English",

volume = "2",

pages = "1315--1319",

journal = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",

issn = "0884-3627",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1996 IEEE International Conference on Systems, Man and Cybernetics. Part 4 (of 4) ; Conference date: 14-10-1996 Through 17-10-1996",

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TY - JOUR

T1 - Dynamic neural network for adaptive optimal learning of robot motion with guaranteed convergence rate

AU - Chung, Chae Wook

AU - Lee, Hyun Bae

AU - Kuc, Tae Yong

AU - Yi, Taek Chong

PY - 1996

Y1 - 1996

N2 - This paper presents an optimal learning controller for uncertain robot systems which makes use of simple DNN(dynamic neural network) units to estimate uncertain parameters and learn the unknown desired optimal input. With the aid of a Lyapunov function, it is shown that all the error signals in the system are bounded and the robot trajectory converges to the desired one globally exponentially. The effectiveness of the proposed controller is shown by applying the controller to a planar robot manipulator.

AB - This paper presents an optimal learning controller for uncertain robot systems which makes use of simple DNN(dynamic neural network) units to estimate uncertain parameters and learn the unknown desired optimal input. With the aid of a Lyapunov function, it is shown that all the error signals in the system are bounded and the robot trajectory converges to the desired one globally exponentially. The effectiveness of the proposed controller is shown by applying the controller to a planar robot manipulator.

UR - https://www.scopus.com/pages/publications/0030379396

M3 - Conference article

AN - SCOPUS:0030379396

SN - 0884-3627

VL - 2

SP - 1315

EP - 1319

JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

T2 - Proceedings of the 1996 IEEE International Conference on Systems, Man and Cybernetics. Part 4 (of 4)

Y2 - 14 October 1996 through 17 October 1996

ER -

Dynamic neural network for adaptive optimal learning of robot motion with guaranteed convergence rate

Abstract

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