Neural Adaptive Switching Control of Robotic Systems

In this paper a neural adaptive control method has been developed and applied to robot control. Simulation results are presented to verify the effectiveness of the controller. These results show that the performance by using this controller is better than those which just use either direct inverse control or predictive control. In addition, they show that the resulting is a useful method which combines the advantages of both direct inverse control and predictive control.

Authors:

• A. Denker
• U. Akıncıoğlu

Keywords:

• Neural networks
• robotics
• direct inverse control
• predictive control.

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