Juan Daniel Muñoz-Navarrete

Robustez del control hı́brido neuro-PD ante incertidumbres y perturbaciones

This work presents the development and validation of a hybrid control system for a two-degree-of-freedom (2-DOF) robotic manipulator. The proposed scheme integrates a Multi-Layer Perceptron (MLP) Artificial Neural Network (ANN), designed to approximate the inverse dynamics for system linearization, with a Proportional-...