Adaptive practical predefined-time neural tracking control for multi-joint uncertain robotic manipulators with input saturation

doi:10.1007/s00521-023-08797-2

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	Adaptive practical predefined-time neural tracking control for multi-joint uncertain robotic manipulators with input saturation
	H. Sai, Z. Xu and E. Zhang
刊名	Neural Computing and Applications
	2023
卷号	35 期号:27 页码:20423-20440
ISSN号	09410643
DOI	10.1007/s00521-023-08797-2
英文摘要	Predefined-time stability contributes to constraining the tracking time of robotic manipulators, but the stringent judgment conditions restrict its practical application. This paper studies an adaptive practical predefined-time neural control scheme for uncertain multi-joint robotic manipulators with input saturation. First, a practical predefined-time stability criterion is established to ensure the closed-loop stability of uncertain systems. Then, the unknown robotic dynamic model can be approximated by radial basis function neural networks. Meanwhile, the input saturation of the robotic manipulator is compensated by introducing an adaptive term. Based on the constructed stability criterion, the proposed controller is proved to guarantee that the tracking error of the system converges to a small neighborhood of the origin within a predefined time and is independent of the initial state. Finally, the effectiveness of the proposed control scheme is emphasized by numerical simulations and experiments of a two-joint and a nine-joint robotic manipulator, respectively. © 2023, The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature.
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内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/67822]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	H. Sai, Z. Xu and E. Zhang. Adaptive practical predefined-time neural tracking control for multi-joint uncertain robotic manipulators with input saturation[J]. Neural Computing and Applications,2023,35(27):20423-20440.
APA	H. Sai, Z. Xu and E. Zhang.(2023).Adaptive practical predefined-time neural tracking control for multi-joint uncertain robotic manipulators with input saturation.Neural Computing and Applications,35(27),20423-20440.
MLA	H. Sai, Z. Xu and E. Zhang."Adaptive practical predefined-time neural tracking control for multi-joint uncertain robotic manipulators with input saturation".Neural Computing and Applications 35.27(2023):20423-20440.