Neural Network Tracking of Switched Robotic Manipulators with Mode-Dependent Average Dwell Time

被引：0
|
作者：
Ma, Chao [1 ,2 ]
Wu, Wei [2 ]
Ji, Yidao [3 ]
Wang, Wei [3 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Mech Engn, Beijing 100083, Peoples R China
[2] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
[3] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
来源：
2020 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE-RCAR 2020) | 2020年
基金：
中国国家自然科学基金;
关键词：
STABILITY ANALYSIS; SYSTEMS; STABILIZATION;
D O I：
10.1109/rcar49640.2020.9303300
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is concerned with the tracking control for robotic manipulators with switching loads and parameter uncertainties. More precisely, the neural network approximation method is adopted with adaptive control to deal with the unmodeled dynamics. Multiple Lyapunov function method is used based on mode-dependent average dwell time, such that the tracking error can converge with desired region. A numerical example is finally provided for illustrating our proposed tracking strategy.
引用
收藏
页码：399 / 403
页数：5
相关论文
共 50 条
  • [1] Adaptive Tracking Control of Switched Linear Systems Using Mode-Dependent Average Dwell Time
    Yuan, Shuai
    De Schutter, Bart
    Baldi, Simone
    2018 8TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND TECHNOLOGY (ICIST 2018), 2018, : 1 - 7
  • [2] Stability analysis of switched cellular neural networks: A mode-dependent average dwell time approach
    Huang, Chuangxia
    Cao, Jie
    Cao, Jinde
    NEURAL NETWORKS, 2016, 82 : 84 - 99
  • [3] Event-Triggered Sliding Mode Control of Switched Neural Networks With Mode-Dependent Average Dwell Time
    Yan, Huaicheng
    Zhang, Hao
    Zhan, Xisheng
    Wang, Yueying
    Chen, Shiming
    Yang, Fuwen
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2021, 51 (02): : 1233 - 1243
  • [4] Stability and stabilization of positive switched systems with mode-dependent average dwell time
    Zhang, J.
    Han, Z.
    Zhu, F.
    Huang, J.
    NONLINEAR ANALYSIS-HYBRID SYSTEMS, 2013, 9 : 42 - 55
  • [5] Asynchronous stabilization of switched systems: Adjacent mode-dependent average dwell time
    Wang Yue-E
    Wu Bao-Wei
    Wang Rui
    ACTA PHYSICA SINICA, 2015, 64 (05)
  • [6] Asynchronous H∞ Control of Switched Systems with Mode-Dependent Average Dwell Time
    Gao, Juan
    Wang, Xing Tao
    CIRCUITS SYSTEMS AND SIGNAL PROCESSING, 2017, 36 (11) : 4401 - 4422
  • [7] Stability and Stabilization of Switched Linear Systems With Mode-Dependent Average Dwell Time
    Zhao, Xudong
    Zhang, Lixian
    Shi, Peng
    Liu, Ming
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2012, 57 (07) : 1809 - 1815
  • [8] Adaptive Neural Prescribed-Time Control of Switched Nonlinear Systems With Mode-Dependent Average Dwell Time
    Zeng, Danping
    Liu, Zhi
    Chen, C. L. Philip
    Wang, Yaonan
    Zhang, Yun
    Wu, Zongze
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2023, 53 (12): : 7427 - 7440
  • [9] New Stability and Stabilization Conditions of Switched Systems with Mode-Dependent Average Dwell Time
    Yunfei Yin
    Xudong Zhao
    Xiaolong Zheng
    Circuits, Systems, and Signal Processing, 2017, 36 : 82 - 98
  • [10] Finite-time control of switched delay systems with mode-dependent average dwell time
    Shi, Shuang
    Fei, Zhongyang
    Guan, Chaoxu
    Yang, Xianqiang
    PROCEEDINGS 2016 IEEE 25TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2016, : 1011 - 1016
12345