E-raamat: Neural Network Control Of Robot Manipulators And Non-Linear Systems

A graduate text providing an account of neural network (NN) controllers for robotics and nonlinear systems, offering a general and streamlined design procedure for NN controllers. Provides a background to NNs, dynamical systems, and control, then introduces the robot control problem and standard techniques such as torque, and adaptive and robust control. Gives design techniques and stability proofs for NN controllers for robot arms, practical robotic systems with high frequency vibratory modes, force control, and a general class of nonlinear systems. Concludes with a discussion of discrete-time NN controllers. Includes chapter problems. Lewis is affiliated with the University of Texas at Arlington's Automation and Robotics Research Institute. Annotation c. Book News, Inc., Portland, OR (booknews.com)

There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics.
The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.