Stable decentralized adaptive control design of robot manipulators using neural network approximations

In this paper, we present a decentralized neural network (NN) adaptive technique for control of robot manipulators in the presence of unknown non-linear functions. Radial basis function NNs are used to approximate the non-linear functions to include the case of both parametric and dynamic uncertainty in each subsystem. The robustifying terms are added to the controllers to overcome the effects of the interconnections. The stability can be guaranteed by using a rigid proof. Finally, simulation is given to illustrate the effectiveness of the proposed algorithm.