Abstract
A neural network(NN)-based adaptive controller with an observer is proposed in this paper for trajectory tracking of robotic manipulators with unknown dynamic nonlinearities. It is assumed that the robotic manipulator has only joint angle position measurements. The NN is used to approximate the revised robot dynamics function. The adaptive controller 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. Main theoretical results for designing such a controller are given, and the control performance of the proposed controller is verified with simulation studies.
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