Dimensional Analysis of Acid Etching Effects on Vertically Grown Carbon Nanofibers Using Atomic Force Microscopy

作者：Wejinya Uchechukwu C^*; Chalamalasetty Siva Naga Sandeep; Dong Zhuxin; Meyyappan Meyya; Iyuke Sunny E

来源：Nanomaterials and Nanotechnology, 2013, 3: 9.

DOI：10.5772/56763

• Decentralized control
• High-Order Neural Networks
• Extended Kalman Filter
• Backstepping

This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The weights for each neural network are adapted online by an extended Kalman filter training algorithm. The motion for each joint is controlled independently using only local angular position and velocity measurements. The stability analysis for the closed-loop system via the Lyapunov approach is included. Finally, the real-time results show the feasibility of the proposed control scheme robot manipulator.

• 出版日期2013-7-8