Asymmetric Bounded Neural Control for an Uncertain Robot by State Feedback and Output Feedback

doi:10.1109/TSMC.2019.2901277

	Asymmetric Bounded Neural Control for an Uncertain Robot by State Feedback and Output Feedback
	Kong, Linghuan 1,2; He, Wei 1,2; Dong, Yiting 3; Cheng, Long4,5 ; Yang, Chenguang 6; Li, Zhijun 7
发表期刊	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN	2168-2216
	2021-03-01
卷号	51 期号:3 页码:1735-1746
通讯作者	He, Wei(weihe@ieee.org)
摘要	In this paper, an adaptive neural bounded control scheme is proposed for an n-link rigid robotic manipulator with unknown dynamics. With the combination of the neural approximation and backstepping technique, an adaptive neural network control policy is developed to guarantee the tracking performance of the robot. Different from the existing results, the bounds of the designed controller are known a priori, and they are determined by controller gains, making them applicable within actuator limitations. Furthermore, the designed controller is also able to compensate the effect of unknown robotic dynamics. Via the Lyapunov stability theory, it can be proved that all the signals are uniformly ultimately bounded. Simulations are carried out to verify the effectiveness of the proposed scheme.
关键词	Neural networks Adaptive systems Nonlinear systems Manipulator dynamics Uncertainty adaptive control asymmetrically bounded inputs neural networks robotic manipulator
DOI	10.1109/TSMC.2019.2901277
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61873298] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[61633016] ; National Natural Science Foundation of China[61751310] ; National Natural Science Foundation of China[61573147] ; Anhui Science and Technology Major Program[17030901029] ; Beijing Science and Technology Project[Z181100003118006] ; Beijing Municipal Natural Science Foundation[L182060] ; Engineering and Physical Sciences Research Council[EP/S001913]
项目资助者	National Natural Science Foundation of China ; Anhui Science and Technology Major Program ; Beijing Science and Technology Project ; Beijing Municipal Natural Science Foundation ; Engineering and Physical Sciences Research Council
WOS研究方向	Automation & Control Systems ; Computer Science
WOS类目	Automation & Control Systems ; Computer Science, Cybernetics
WOS记录号	WOS:000619380900033
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：130[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/43238
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	He, Wei
作者单位	1.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China 2.Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 100083, Peoples R China 3.Texas Tech Univ, Dept Mech Engn, Lubbock, TX 79409 USA 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 6.Univ West England, Bristol Robot Lab, Bristol BS16 1QY, Avon, England 7.Univ Sci & Technol China, Dept Automat, Hefei 230026, Peoples R China
推荐引用方式 GB/T 7714	Kong, Linghuan,He, Wei,Dong, Yiting,et al. Asymmetric Bounded Neural Control for an Uncertain Robot by State Feedback and Output Feedback[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021,51(3):1735-1746.
APA	Kong, Linghuan,He, Wei,Dong, Yiting,Cheng, Long,Yang, Chenguang,&Li, Zhijun.(2021).Asymmetric Bounded Neural Control for an Uncertain Robot by State Feedback and Output Feedback.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,51(3),1735-1746.
MLA	Kong, Linghuan,et al."Asymmetric Bounded Neural Control for an Uncertain Robot by State Feedback and Output Feedback".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 51.3(2021):1735-1746.