Tham khảo tài liệu 'robot manipulator control theory and practice - frank part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 430 REFERENCES 2 Can the adaptive robust controller stability analysis and consequently the controller itself be modified to account for the prismatic link given in Problem If so explain how. 3 Show how Barbalat s lemma see Chapter 2 can be used to modify the stability analysis for the adaptive robust controller to guarantee that the velocity tracking error is also asymptotically stable. Section 1 For a constant symmetric positive-definite nxn matrix A show that a l A ỈÍ2 -Ml ax A b V A Amax A 2 Ĩ2 Section 2 Design and simulate the RLED corrective controller given in Table for the two-link revolute robot arm given in Chapter 3. Assume that both motors can be modeled as the motor given in Example . 3 For a constant symmetric positive-definite nxn matrix A show that max A 2 2A Onxn A Onxn Í2 where Onxn is the nxn zero matrix. Design and simulate the RLFJ corrective controller given in Table for the two-link revolute robot arm given in Chapter 3. Assume that both joints can be modeled similar to the joint given in Example . Copyright 2004 by Marcel Dekker Inc. Chapter 8 Neural Network Control of Robots A framework is given for controller design using neural networks. These structures possess a universal approximation property that allows them to be used in feedback control of unknown systems without requirements for linearity in the system parameters or finding a regression matrix. Feedback control topologies and weight tuning algorithms are given here that guarantee closed-loop stability and bounded weights. Introduction In recent years there has been a great deal of effort to design feedback control systems that mimic the functions of living biological systems White and Sofge 1992 Miller et al. 1991 . There has been great interest recently in universal model-free controllers that do not need a mathematical model of the controlled plant but mimic the functions of biological processes to learn .