Knowledge Commons of Institute of Automation,CAS
Adaptive neural network tracking control of robot manipulators with prescribed performance | |
Xie, X-L; Hou, Z-G; Cheng, L.; Ji, C.; Tan, M.; Yu, H. | |
发表期刊 | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING |
2011-09-01 | |
卷号 | 225期号:I6页码:790-797 |
文章类型 | Article |
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. |
关键词 | Neural Network Error Transformation Prescribed Performance |
WOS标题词 | Science & Technology ; Technology |
关键词[WOS] | MIMO NONLINEAR-SYSTEMS ; FUZZY CONTROL |
收录类别 | SCI ; ISTP |
语种 | 英语 |
WOS研究方向 | Automation & Control Systems |
WOS类目 | Automation & Control Systems |
WOS记录号 | WOS:000294469400009 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/3427 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | Chinese Acad Sci, State Key Lab Intelligent Control & Management Co, Inst Automat, Beijing 100190, Peoples R China |
推荐引用方式 GB/T 7714 | Xie, X-L,Hou, Z-G,Cheng, L.,et al. Adaptive neural network tracking control of robot manipulators with prescribed performance[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING,2011,225(I6):790-797. |
APA | Xie, X-L,Hou, Z-G,Cheng, L.,Ji, C.,Tan, M.,&Yu, H..(2011).Adaptive neural network tracking control of robot manipulators with prescribed performance.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING,225(I6),790-797. |
MLA | Xie, X-L,et al."Adaptive neural network tracking control of robot manipulators with prescribed performance".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 225.I6(2011):790-797. |
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