Adaptive neural network tracking control of robot manipulators with prescribed performance
Xiaoliang Xie; Long Cheng; Zeng-Guang Hou; Cheng Ji; Min Tan; Hongnian Yu
2010
会议名称Workshop on Human Adaptive Mechatronics
会议日期 MAY, 2010
会议地点Loughborough
会议举办国England
摘要In this paper, a controller for robot manipulators is proposed to guarantee the tracking error of the systems bounded by predefined decreasing boundary. In this control scheme, a multi-layer neural network is used to approximate the unknown non-linear items, and the robustifying control term is used to compensate the approximation errors. The adaptive laws of weights of the neural network and robustifying control term are derived based on the Lyapunov stability analysis, so that, under appropriate assumptions, the transient and steady-state error bounds can be guaranteed. Compared with the existing work, the adaptable parameters in the proposed method do not need an off-line training procedure for better approximation. Simulations performed on a two-link robot manipulator illustrate the developed controller and demonstrate its performance.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23153
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
Xiaoliang Xie,Long Cheng,Zeng-Guang Hou,et al. Adaptive neural network tracking control of robot manipulators with prescribed performance[C],2010.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Xiaoliang Xie]的文章
[Long Cheng]的文章
[Zeng-Guang Hou]的文章
百度学术
百度学术中相似的文章
[Xiaoliang Xie]的文章
[Long Cheng]的文章
[Zeng-Guang Hou]的文章
必应学术
必应学术中相似的文章
[Xiaoliang Xie]的文章
[Long Cheng]的文章
[Zeng-Guang Hou]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。