Distributed tracking control of uncertain multiple manipulators under switching topologies using neural networks
文献类型：会议论文
| 作者 | Long Cheng ; Ming Cheng; Hongnian Yu; Lu Deng; Zeng-Guang Hou
|
| 出版日期 | 2016 |
| 会议日期 | JUL 06-08, 2016 |
| 会议地点 | Saint petersburg |
| 国家 | Russia |
| 英文摘要 | The distributed tracking control of a group of manipulators under switching directed topologies is studied. Each manipulator is modeled by the Euler-Lagrange dynamics which includes uncertainties and external disturbances. The proposed controller has the neural network approximation unit for compensating uncertainties and the robust term for counteracting external disturbances. It can be proved that when the communication topology switches among a set of graphes which have a spanning tree and have no loop structure, the final tracking error can be reduced as small as possible. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/23136]  |
| 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 |
| 推荐引用方式 GB/T 7714 | Long Cheng,Ming Cheng,Hongnian Yu,et al. Distributed tracking control of uncertain multiple manipulators under switching topologies using neural networks[C]. 见:. Saint petersburg. JUL 06-08, 2016. |
入库方式： OAI收割
来源：自动化研究所
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