Decentralized Adaptive Neural Network Control for Reconfigurable Manipulators

被引：6
作者：
Zhu, Lu [1 ,2 ]
Li, Yuanchun [2 ]
机构：
[1] Jilin Univ, State Key Lab Automobile Dynam Simulat, Changchun 130022, Peoples R China
[2] Jilin Univ, Dept Commun Engn, Changchun 130022, Peoples R China
来源：
2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5 | 2010年
基金：
中国国家自然科学基金;
关键词：
Reconfigurable Manipulators; Decentralized Control; Neural Networks; Adaptive Control; Backstepping Design; OUTPUT-FEEDBACK CONTROL; NONLINEAR-SYSTEMS; ROBOT MANIPULATORS;
D O I：
10.1109/CCDC.2010.5498523
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a decentralized adaptive neural network control algorithm for reconfigurable manipulators based on Lyapunov's stability analysis and backstepping techniques is proposed. The dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. Neural networks are used to approximate the unknown dynamic functions and interconnections in the subsystems by using adaptive algorithm. The effectiveness of the proposed scheme is demonstrated by computer simulations.
引用
收藏
页码：1760 / +
页数：3
相关论文
共 50 条
[21]   Adaptive neural network feedback linearization control of coordinated manipulators [J].
Ge, SS ;
Lee, TH ;
Woon, LC .
MOTION CONTROL (MC'98), 1999, :315-320
[22]   Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators [J].
Zhao, Bo ;
Li, Yuanchun .
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2018, 16 (02) :478-490
[23]   Adaptive Neural Network Control for Constrained Robot Manipulators [J].
Wang, Gang ;
Sun, Tairen ;
Pan, Yongping ;
Yu, Haoyong .
ADVANCES IN NEURAL NETWORKS, PT II, 2017, 10262 :118-127
[24]   Adaptive neural network based control of robotic manipulators [J].
Mitchell, K ;
Dagli, CH .
APPLICATIONS AND SCIENCE OF COMPUTATIONAL INTELLIGENCE IV, 2001, 4390 :236-242
[25]   Adaptive Neural Network Tracking Control for Robotic Manipulators With Dead Zone [J].
Zhou, Qi ;
Zhao, Shiyi ;
Li, Hongyi ;
Lu, Renquan ;
Wu, Chengwei .
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2019, 30 (12) :3611-3620
[26]   Decentralized control of robot manipulators: Nonlinear and adaptive approaches [J].
Liu, M .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1999, 44 (02) :357-363
[27]   Decentralized Filtering Adaptive Neural Network Control for Uncertain Switched Interconnected Nonlinear Systems [J].
Ma, Tong .
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2021, 32 (11) :5156-5166
[28]   Adaptive Trajectory Neural Network Tracking Control for Industrial Robot Manipulators with Deadzone Robust Compensator [J].
La Van Truong ;
Shou Dao Huang ;
Vu Thi Yen ;
Pham Van Cuong .
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2020, 18 (09) :2423-2434
[29]   Decentralized Guaranteed Cost Control for Reconfigurable Manipulators with Environmental Constraints Based on Adaptive Dynamic Programming [J].
Jin, Weining ;
An, Yi ;
Zhou, Fan ;
Dong, Bo ;
Li, Yuanchun .
PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, :4845-4850
[30]   DECENTRALIZED ADAPTIVE COMPLIANCE CONTROL OF ROBOT MANIPULATORS [J].
COLBAUGH, R ;
GLASS, K .
ROBOTICA, 1995, 13 :485-498
12345