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dc.contributor.author
Montoya Cháirez, Jorge  
dc.contributor.author
Moreno Valenzuela, Javier  
dc.contributor.author
Santibáñez, Víctor  
dc.contributor.author
Carelli Albarracin, Ricardo Oscar  
dc.contributor.author
Rossomando, Francisco Guido  
dc.contributor.author
Pérez Alcocer, Ricardo  
dc.date.available
2023-09-07T12:26:23Z  
dc.date.issued
2022-01  
dc.identifier.citation
Montoya Cháirez, Jorge; Moreno Valenzuela, Javier; Santibáñez, Víctor; Carelli Albarracin, Ricardo Oscar; Rossomando, Francisco Guido; et al.; Combined adaptive neural network and regressor-based trajectory tracking control of flexible joint robots; Institution of Engineering and Technology; IET Control Theory and Applications; 16; 1; 1-2022; 31-50  
dc.identifier.issn
1751-8644  
dc.identifier.uri
http://hdl.handle.net/11336/210810  
dc.description.abstract
By relying on the input–output feedback linearization approach, a novel adaptive controller for flexible joint robots is proposed in this work. First, a model-based controller is developed to get a structure that is useful in the development of the adaptive controller. The adaptive version is developed by using two techniques. To stabilize the output function, an adaptive neural network controller is used, which approximates the non-linear function that contains the uncertainties. The desired rotor position required by the input–output feedback linearization controller is defined with the structure of a link dynamics adaptive regressor-based controller. The main reason to adopt the mentioned structure in the definition of the desired rotor link position is to guarantee its differentiability. Real-time experiment comparisons among the model-based controller, a model-based controller with desired compensation, an adaptive controller based on joint torque feedback, and an adaptive neural network-based controller are carried out. Experimental results support the theory reported in this document and the accuracy of the proposed approach.  
dc.format
application/pdf  
dc.language.iso
eng  
dc.publisher
Institution of Engineering and Technology  
dc.rights
info:eu-repo/semantics/openAccess  
dc.rights.uri
https://creativecommons.org/licenses/by/2.5/ar/  
dc.subject
Flexible robots  
dc.subject
Adaptive neural networks  
dc.subject
Trajectory control  
dc.subject.classification
Control Automático y Robótica  
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Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información  
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INGENIERÍAS Y TECNOLOGÍAS  
dc.title
Combined adaptive neural network and regressor-based trajectory tracking control of flexible joint robots  
dc.type
info:eu-repo/semantics/article  
dc.type
info:ar-repo/semantics/artículo  
dc.type
info:eu-repo/semantics/publishedVersion  
dc.date.updated
2023-07-06T12:50:16Z  
dc.journal.volume
16  
dc.journal.number
1  
dc.journal.pagination
31-50  
dc.journal.pais
Reino Unido  
dc.journal.ciudad
Londres  
dc.description.fil
Fil: Montoya Cháirez, Jorge. Instituto Politécnico Nacional. Centro de Investigación y de Estudios Avanzados. Departamento de Física; México  
dc.description.fil
Fil: Moreno Valenzuela, Javier. Instituto Politécnico Nacional. Centro de Investigación y de Estudios Avanzados. Departamento de Física; México  
dc.description.fil
Fil: Santibáñez, Víctor. Instituto Tecnologico de la Laguna; México  
dc.description.fil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina  
dc.description.fil
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina  
dc.description.fil
Fil: Pérez Alcocer, Ricardo. Consejo Nacional de Ciencia y Tecnología; México. Instituto Politécnico Nacional. Centro de Investigación y de Estudios Avanzados. Departamento de Física; México  
dc.journal.title
IET Control Theory and Applications  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1049/cth2.12202  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://ietresearch.onlinelibrary.wiley.com/doi/10.1049/cth2.12202