Adaptive neural network tracking control of robot manipulators with prescribed performance

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Adaptive neural network tracking control of robot manipulators with prescribed performance
	Xie, X-L; Hou, Z-G; Cheng, L.; Ji, C.; Tan, M.; Yu, H.
刊名	PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
	2011-09-01
卷号	225 期号:I6 页码:790-797
关键词	neural network error transformation prescribed performance
英文摘要	In this paper, a controller for robot manipulators is proposed to guarantee the tracking error of the systems bounded by predefined decreasing boundary. In this control scheme, a multi-layer neural network is used to approximate the unknown non-linear items, and the robustifying control term is used to compensate the approximation errors. The adaptive laws of weights of the neural network and robustifying control term are derived based on the Lyapunov stability analysis, so that, under appropriate assumptions, the transient and steady-state error bounds can be guaranteed. Compared with the existing work, the adaptable parameters in the proposed method do not need an off-line training procedure for better approximation. Simulations performed on a two-link robot manipulator illustrate the developed controller and demonstrate its performance.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems
研究领域[WOS]	Automation & Control Systems
关键词[WOS]	MIMO NONLINEAR-SYSTEMS ; FUZZY CONTROL
收录类别	SCI ; ISTP
语种	英语
WOS记录号	WOS:000294469400009
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3427]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	Chinese Acad Sci, State Key Lab Intelligent Control & Management Co, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Xie, X-L,Hou, Z-G,Cheng, L.,et al. Adaptive neural network tracking control of robot manipulators with prescribed performance[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING,2011,225(I6):790-797.
APA	Xie, X-L,Hou, Z-G,Cheng, L.,Ji, C.,Tan, M.,&Yu, H..(2011).Adaptive neural network tracking control of robot manipulators with prescribed performance.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING,225(I6),790-797.
MLA	Xie, X-L,et al."Adaptive neural network tracking control of robot manipulators with prescribed performance".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 225.I6(2011):790-797.