CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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.
Source PublicationPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
2011-09-01
Volume225Issue:I6Pages:790-797
SubtypeArticle
AbstractIn 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.
KeywordNeural Network Error Transformation Prescribed Performance
WOS HeadingsScience & Technology ; Technology
WOS KeywordMIMO NONLINEAR-SYSTEMS ; FUZZY CONTROL
Indexed BySCI ; ISTP
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000294469400009
Citation statistics
Cited Times:16[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3427
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationChinese Acad Sci, State Key Lab Intelligent Control & Management Co, Inst Automat, Beijing 100190, Peoples R China
Recommended Citation
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.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Xie, X-L]'s Articles
[Hou, Z-G]'s Articles
[Cheng, L.]'s Articles
Baidu academic
Similar articles in Baidu academic
[Xie, X-L]'s Articles
[Hou, Z-G]'s Articles
[Cheng, L.]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Xie, X-L]'s Articles
[Hou, Z-G]'s Articles
[Cheng, L.]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.