A neural network-based robot controller
Y. Derbal, Mohamed M. Bayoumi · 2003
A neural network robot controller and a learning rule that is appropriate to closed-loop control of robot manipulators in particular and to dynamic systems in general are proposed. The stability of the closed-loop system is addressed using the input-output stability theory. Extensive simulations have been carried out to study the performance of the proposed neural network controller when applied to a two-degree-of-freedom robot arm.>