| Tip position control of a flexible-link manipulator with neural networks | |
| Tang, YG ; Sun, FC ; Sun, ZQ ; Hu, TL | |
| 2010-05-06 ; 2010-05-06 | |
| 关键词 | filtered tracking error flexible-link manipulator Lyapunov function neural network output redefinition TRACKING Automation & Control Systems |
| 中文摘要 | To control the tip position of a flexible-link manipulator, a neural network (NN) controller is proposed in this paper. The dynamics error used to construct NN controller is derived based on output redefinition approach. Without the filtered tracking error, the proposed NN controller can still guarantee the closed-loop system uniformly asymptotically stable as well as NN weights bounded. Furthermore, the tracking error of desired trajectory can converge to zero with the proposed controller. For comparison an NN controller with filtered tracking error is also designed for the flexible-link manipulator. Finally, simulation studies are carried out to verify the theoretic results. |
| 语种 | 英语 ; 英语 |
| 出版者 | INST CONTROL AUTOMATION & SYSTEMS ENGINEERS-KOREAN INST ELECTRICAL ENG ; BUCHEON ; BUCHEON TECHNO PARK 401-1506, 193 YAKDAE-DONG WONMI-GU, BUCHEON, GYEONGGI-DO 420-734, SOUTH KOREA |
| 内容类型 | 期刊论文 |
| 源URL | [http://hdl.handle.net/123456789/10455]  |
| 专题 | 清华大学 |
| 推荐引用方式 GB/T 7714 | Tang, YG,Sun, FC,Sun, ZQ,et al. Tip position control of a flexible-link manipulator with neural networks[J],2010, 2010. |
| APA | Tang, YG,Sun, FC,Sun, ZQ,&Hu, TL.(2010).Tip position control of a flexible-link manipulator with neural networks.. |
| MLA | Tang, YG,et al."Tip position control of a flexible-link manipulator with neural networks".(2010). |
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