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September 12, 2025An International Journal of Optimization and Control Theories & Applications (IJOCTA)Open Access

Model reference adaptive control based time delay estimation with RBF neural network for robot manipulators

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Authors

SASaim AhmedAAAhmad Taher AzarIIIbraheem Kasim Ibraheem

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Overview

Proposed model-reference adaptive control enhances control performance in robotic systems, indicating effective time delay estimation.

Key Points

  • Control performance is significantly improved by using a model-free approach with adaptive control techniques.
  • The method employs time delay estimation to manage unknown dynamics within the robotic manipulator.
  • Neural networks are implemented to minimize estimation errors, ensuring robust control across different robot configurations.
  • Stability analysis of the robotic system is validated using the Lyapunov theorem, ensuring system reliability.

Cite This Study

Ahmed et al. (2025) studied this question.

synapsesocial.com/papers/68d44b3f31b076d99fa55108https://doi.org/10.36922/ijocta025180091
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