TY  - JOUR
TI  - Lecture Notes in Computer Science 1205
PY  - 1999
JO  - Industrial Robot the international journal of robotics research and application
DO  - 10.1108/ir.1999.04926fae.001
UR  - https://doi.org/10.1108/ir.1999.04926fae.001
AB  - In this study, the application of the single input single output (SISO) neural generalized predictive control (NGPC) and SISO generalized predictive control (GPC) of a three joint robotic manipulator are presented. The sinusoidal and cubic trajectory principles were used for position reference and velocity reference trajectories. NGPC-SISO algorithm performs better than GPC-SISO algorithm for both trajectories. The GPC-SISO robotic manipulator control results have better values in the case of the sinusoidal trajectory, but the NGPC-SISO robotic manipulator control results for both the cubic and sinusoidal trajectory are almost similar.
ER  -