Neural network control design for a rigid-link electrically driven robot

Abstract

In this paper, a back-stepping scheme for rigid-link electrically driven (RLED) robot systems is proposed. A two-step controller is presented: the first step is a virtual controller, while the second step is an actual one. A neural network is used to approximate the unknown non-linear dynamics in the system. The stability can be guaranteed by using a rigid proof. A simulation is used to illustrate the effectiveness of the proposed algorithm.