{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,31]],"date-time":"2022-03-31T23:12:47Z","timestamp":1648768367516},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2001,1,17]],"date-time":"2001-01-17T00:00:00Z","timestamp":979689600000},"content-version":"unspecified","delay-in-days":16,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2001,1]]},"abstract":"<jats:p>The design \nand implementation of adaptive control for nonlinear unknown systems is \nextremely difficult. The nonlinear adaptive control for assembly robots performing \na peg-in-hole insertion is one such an example. The recently \nintensively studied neural networks brings a new stage in the \ndevelopment of adaptive control, particularly for unknown nonlinear systems. The \naim of this paper is to propose a new approach \nof hybrid force position control of an assembly robot based \non artificial neural networks systems. An appropriate neural network is \nused to model the plant and is updated online. An \nartificial neural network controller is then directly evaluated using the \nupdated neuro model. Two control structures are proposed and the \nstability analysis of the closed-loop system is investigated using the \nLyapunov method. Experimental results demonstrate that the identification and control \nschemes suggested in this paper are efficient in practice.<\/jats:p>","DOI":"10.1017\/s0263574700002885","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:39:16Z","timestamp":1027777156000},"page":"41-51","source":"Crossref","is-referenced-by-count":8,"title":["Neural hybrid control of manipulators, stability analysis"],"prefix":"10.1017","volume":"19","author":[{"given":"N.","family":"Saadia","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Y.","family":"Amirat","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J.","family":"Pontnau","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"N.K.","family":"M'Sirdi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2001,1,17]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700002885","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,7]],"date-time":"2019-04-07T18:50:56Z","timestamp":1554663056000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700002885\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2001,1]]},"references-count":0,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2001,1]]}},"alternative-id":["S0263574700002885"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700002885","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2001,1]]}}}