Distributed tracking control of uncertain multiple manipulators under switching topologies using neural networks
Long Cheng; Ming Cheng; Hongnian Yu; Lu Deng; Zeng-Guang Hou
2016
会议名称13th International Symposium on Neural Networks (ISNN)
会议日期 JUL 06-08, 2016
会议地点Saint petersburg
会议举办国Russia
摘要The distributed tracking control of a group of manipulators under switching directed topologies is studied. Each manipulator is modeled by the Euler-Lagrange dynamics which includes uncertainties and external disturbances. The proposed controller has the neural network approximation unit for compensating uncertainties and the robust term for counteracting external disturbances. It can be proved that when the communication topology switches among a set of graphes which have a spanning tree and have no loop structure, the final tracking error can be reduced as small as possible.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23136
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Long Cheng,Ming Cheng,Hongnian Yu,et al. Distributed tracking control of uncertain multiple manipulators under switching topologies using neural networks[C],2016.
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