Distributed tracking control of uncertain multiple manipulators under switching topologies using neural networks

	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	复杂系统认知与决策实验室_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.