Adaptive neural network tracking control of robot manipulators with prescribed performance

	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	复杂系统认知与决策实验室_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.