TAILIEUCHUNG - 54 IEEE TRANSACTIONS ON NEURAL NETWORKS, VOL. 12, NO. 1, JANUARY 2001

Dictionaries and scholars have offered a variety of definitions. The Merriam-Webster dictionary offers a definition of the term: "the practical application of knowledge especially in a particular area" and "a capability given by the practical application of knowledge".[1] Ursula Franklin, in her 1989 "Real World of Technology" lecture, gave another definition of the concept; it is "practice, the way we do things around here".[7] The term is often used to imply a specific field of technology, or to refer to high technology or just consumer electronics, rather than technology as a whole.[8] Bernard Stiegler, in Technics and Time, 1, defines. | 54 IEEE TRANSACTIONS ON NEURAL NETWORKS VOL. 12 NO. 1 JANUARY 2001 Neural Network-Based Adaptive Controller Design of Robotic Manipulators with an Observer Fuchun Sun Member IEEE Zengqi Sun Senior Member IEEE and Peng-Yung Woo Member IEEE Abstract A neural network NN -based adaptive controller with an observer is proposed in this paper for the trajectory tracking of robotic manipulators with unknown dynamics nonlinearities. It is assumed that the robotic manipulator has only joint angle position measurements. A linear observer is used to estimate the robot joint angle velocity while NNs are employed to further improve the control performance of the controlled system through approximating the modified robot dynamics function. The adaptive controller for robots with an observer can guarantee the uniform ultimate bounds of the tracking errors and the observer errors as well as the bounds of the NN weights. For performance comparisons the conventional adaptive algorithm with an observer using linearity in parameters of the robot dynamics is also developed in the same control framework as the NN approach for online approximating unknown nonlinearities of the robot dynamics. Main theoretical results for designing such an observer-based adaptive controller with the NN approach using multilayer NNs with sigmoidal activation functions as well as with the conventional adaptive approach using linearity in parameters of the robot dynamics are given. The performance comparisons between the NN approach and the conventional adaptation approach with an observer is carried out to show the advantages of the proposed control approaches through simulation studies. Index Terms Adaptive control neural networks NNs observer robot stability. I. Introduction Robotic manipulators are complicated nonlinear dynamical systems with inherent unmodeled dynamics and unstructured uncertainties. These dynamical uncertainties make the controller design for manipulators a difficult task in the .

• Tự động hoá
• Technologies
• Averaging
• Conservation of mass
• Multiphase flow models
• Multiphase flow notation
• distribution functions
• Network security technologies
• Ebook Network security technologies
• Security in network design
• Basic confidentiality technologies
• Basic authentication technologies
• Basic message integrity technologies
• Solar assisted technologies for cooling and air conditioning
• Solar assisted technologies
• Solar assisted technologies currently
• Solar thermal and solar photovoltaic
• The installed solar assisted technologies currently
• Emerging technologies in surgery
• Emerging technologies
• Organizing surgical simulation centers
• Disruptive technologies
• Telecom Services
• Wireless Technologies
• Fiber—Optical Technologies
• IP Technologies
• Security and Surveillance
• Location Technologies
• Agilent Technologies 8648A B C D Signal Generator
• Service Guide Agilent Technologies 8648A B C D
• Operation Agilent Technologies 8648A B C D
• Motherboard Audio Path
• HF Power Level Accuracy
• LF Output Level
• Advanced learning technologies
• Performance technologies
• Performance management
• Open education
• Technology standardization
• Economic and psychological profile
• Redgram technologies
• Farm university technologies
• Application of technologies
• Market price
• Labour scarcity
• Mango growers
• Recommended technologies in mango
• Recommended technologies
• Adoption of recommended technologies
• Production of mango
• Production technology
• Search of technologies
• Identification of technologies
• Selection of technologies
• Technological innovation
• Higher education
• South Africa
• Learning technologies
• Agroclimatic zone IV
• Adoption of improved maize production technologies
• Improved maize production technologies
• Farmers of agro climatic zone IV
• Maize production technologies
• Lecture Java technologies
• Bài giảng công nghệ Java
• Công nghệ Java
• Content of lesson Java technologies
• Tools of Java technologies
• Advanced Automotive Technologies
• advanced vehicles
• technical potential and cost
• technology price estimates
• electric drivetain technologies
• nature of the technology
• The Grid
• Core Technologies
• detail OGSA
• SR 168 Portlets
• Home Systems
• Semantic Technologies
• Healthcare Technologies
• Home Gateway
• Place Framework
• Related Technologies
• Tumor Markers
• New Technologies
• potential measurements
• Magnetic resonance
• microwave imaging
• Energy Supply
• Energy Technologies
• Environmental Technologies
• Coal Mining
• Nuclear Power
• Regulatory Framework
• Access Techniques
• CDMA Technologies
• CDMA2000 1X
• 1X EV DO
• Access Technology
• UTRA Technologies
• Available Technologies
• Reducing Greenhouse Gas Emissions
• Pulp and Paper Manufacturing Industry
• New health technologies
• Managing access
• The past and potential future impact
• Access and value in pharmaceuticals
• New health technology
• Business intelligence
• Lecture Business intelligence
• Information integration
• Technologies enabling insights
• Business analytics
• Data mining
• Technologies enabling presentation
• Decision making
• Tactical decisions
• Strategic decisions
• Web technologies
• Web programming
• Web applications
• Computer programming
• Web development technologies
• Categories of web applications
• Characteristics of web applications
• Web project management
• Web application development process
• Requirement engineering
• Modeling web applications