Neural Network Based Global Adaptive Dynamic Surface Tracking Control for Robot Manipulators

被引：0
|
作者：
Teng, Tao [1 ]
Yang, Chenguang [1 ,2 ]
Xu, Bin [3 ]
Li, Zhijun [1 ]
机构：
[1] South China Univ Technol, Key Lab Autonomous Syst & Networked Control, Coll Automat Sci & Engn, Guangzhou 510640, Guangdong, Peoples R China
[2] Swansea Univ, Zienkiewicz Ctr Computat Engn, Swansea SA1 8EN, W Glam, Wales
[3] Northwestern Polytech Univ, Sch Automat, Xian, Peoples R China
来源：
IEEE ICARM 2016 - 2016 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM) | 2016年
关键词：
STRICT-FEEDBACK SYSTEMS; NONLINEAR-SYSTEMS; NN CONTROL;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A neural network empowered dynamic surface control (DSC) technique is addressed for robot manipulators system with unknown dynamics. In comparison to the conventional adaptive neural control algorithms, which could guarantee semi-globally uniformly ultimate boundedness (SGUUB) only when neural approximation keeps effective, the scheme designed in this paper ensures globally uniformly ultimately bounded (GUUB) stability by integrating a switching mechanism which incorporates an additional robust controller to drag the transient state variables back when they go beyond the neural approximation region. Simulation studies on 2-joint robot manipulator have been carried out to validate the designed controller has excellent performance.
引用
收藏
页码：20 / 25
页数：6
相关论文
共 50 条
  • [31] ADAPTIVE NEURAL NETWORK UNKNOWN TRAJECTORY TRACKING CONTROL FOR MARINE SURFACE VESSEL WITH CONSTRAINTS
    Zhang, Qiwei
    Jiang, Xiyun
    Zhang, Kexin
    Yuan, Ziliao
    UNIVERSITY POLITEHNICA OF BUCHAREST SCIENTIFIC BULLETIN SERIES C-ELECTRICAL ENGINEERING AND COMPUTER SCIENCE, 2024, 86 (03): : 139 - 154
  • [32] Neural Network Adaptive Output Feedback Control of Flexible Link Manipulators
    Farmanbordar, A.
    Hoseini, S. M.
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2013, 135 (02):
  • [33] An Enhanced Adaptive Time Delay Control-Based Integral Sliding Mode for Trajectory Tracking of Robot Manipulators
    Boudjedir, Chems Eddine
    Bouri, Mohamed
    Boukhetala, Djamel
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2023, 31 (03) : 1042 - 1050
  • [34] An observer-based adaptive neural network tracking control of robotic systems
    Yu, Wen-Shyong
    Weng, Chien-Chih
    APPLIED SOFT COMPUTING, 2013, 13 (12) : 4645 - 4658
  • [35] Adaptive integral dynamic surface control based on fully tuned radial basis function neural network
    Zhou, Li
    Fei, Shumin
    Jiang, Changsheng
    JOURNAL OF SYSTEMS ENGINEERING AND ELECTRONICS, 2010, 21 (06) : 1072 - 1078
  • [36] Switching Adaptive Control with Applications on Robot Manipulators
    Wang, Shihao
    Zheng, Shiqi
    Deng, Yushu
    Jiang, Zhouxiang
    Song, Bao
    Tang, Xiaoqi
    ENTROPY, 2022, 24 (10)
  • [37] Adaptive dynamic programming-based feature tracking control of visual servoing manipulators with unknown dynamics
    Ren, Xiaolin
    Li, Hongwen
    COMPLEX & INTELLIGENT SYSTEMS, 2022, 8 (01) : 255 - 269
  • [38] Neural network based adaptive sliding mode tracking control of autonomous surface vehicles with input quantization and saturation
    Jiang, Tao
    Yan, Yan
    Wu, Defeng
    Yu, Shuanghe
    Li, Tieshan
    OCEAN ENGINEERING, 2022, 265
  • [39] Global Neural Dynamic Surface Tracking Control of Strict-Feedback Systems With Application to Hypersonic Flight Vehicle
    Xu, Bin
    Yang, Chenguang
    Pan, Yongping
    IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2015, 26 (10) : 2563 - 2575
  • [40] HYBRID ADAPTIVE-CONTROL FOR ROBOT MANIPULATORS
    MO, L
    BAYOUMI, MM
    SYSTEMS & CONTROL LETTERS, 1990, 15 (05) : 405 - 409
12345