Adaptive neural network-based visual servoing control for manipulator with unknown output nonlinearities
文献类型：期刊论文
| 作者 | Wang, Fujie4; Liu, Zhi4; Chen, C. L. P.1,2,3; Zhang, Yun4 |
| 刊名 | INFORMATION SCIENCES
 |
| 出版日期 | 2018-07-01 |
| 卷号 | 451页码:16-33 |
| 关键词 | Neural network-based control Adaptive control Unknown output nonlinearities Robotic manipulator Unknown dynamics |
| ISSN号 | 0020-0255 |
| DOI | 10.1016/j.ins.2018.03.057 |
| 通讯作者 | Liu, Zhi(lz@gdut.edu.cn) |
| 英文摘要 | In this paper, the problem of neural network control for visual servoing robotic system is addressed, where the unmodeled dynamics and output nonlinearity are taken into account simultaneously. An adaptive neural network module is constructed to approach the unknown dynamics, upon which, the robot dynamics are not required to be linearly decomposable and structurally known. The major superiority of this module lies in its conciseness and the computational-reduction operation. Moreover, the output nonlinearity is considered, and its undesirable effect is subsequently tackled without a prior knowledge of the model parameters in output mechanism. It is proven by the Lyapunov method that the image-space tracking error is driven to an adjustable neighborhood of origin. Numerical simulations and experiments under various situations are used to validate the performance of the proposed adaptive neural network based scheme. (C) 2018 Elsevier Inc. All rights reserved. |
| WOS关键词 | SLIDING-MODE CONTROL ; TRACKING CONTROL ; ROBOT MANIPULATORS ; UNCERTAIN KINEMATICS ; SYSTEMS ; CONSTRAINT ; DYNAMICS ; ACTUATOR ; DESIGN ; HYSTERESIS |
| 资助项目 | National Natural Science Foundation of China[61573108] ; National Natural Science Foundation of China[U1501251] ; Natural Science Foundation of Guangdong Province[2016A030313715] ; Natural Science Foundation of Guangdong Province through the Science Fund for Distinguished Young Scholars[S20120011437] ; Ministry of Education of New Century Excellent Talent[NCET-12-0637] |
| WOS研究方向 | Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000432507900002 |
| 出版者 | ELSEVIER SCIENCE INC |
| 资助机构 | National Natural Science Foundation of China ; Natural Science Foundation of Guangdong Province ; Natural Science Foundation of Guangdong Province through the Science Fund for Distinguished Young Scholars ; Ministry of Education of New Century Excellent Talent |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28193]  |
| 专题 | 离退休人员 |
| 通讯作者 | Liu, Zhi |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China 2.Dalian Maritime Univ, Dalian 116026, Peoples R China 3.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Macau 99999, Peoples R China 4.Guangdong Univ Technol, Fac Automat, Guangzhou 510006, Guangdong, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Fujie,Liu, Zhi,Chen, C. L. P.,et al. Adaptive neural network-based visual servoing control for manipulator with unknown output nonlinearities[J]. INFORMATION SCIENCES,2018,451:16-33. |
| APA | Wang, Fujie,Liu, Zhi,Chen, C. L. P.,&Zhang, Yun.(2018).Adaptive neural network-based visual servoing control for manipulator with unknown output nonlinearities.INFORMATION SCIENCES,451,16-33. |
| MLA | Wang, Fujie,et al."Adaptive neural network-based visual servoing control for manipulator with unknown output nonlinearities".INFORMATION SCIENCES 451(2018):16-33. |
入库方式： OAI收割
来源：自动化研究所
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