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Super-twisting ZNN for coordinated motion control of multiple robot manipulators with external disturbances suppression

文献类型：期刊论文

作者Chen, Dechao1,2; Li, Shuai3; Wu, Qing2; Luo, Xin4
刊名NEUROCOMPUTING
出版日期2020-01-02
卷号371页码:78-90
关键词Coordination motion control Zeroing neural networks (ZNNs) Finite-time convergence Super-twisting Multiple robot manipulators
ISSN号0925-2312
DOI10.1016/j.neucom.2019.08.085
通讯作者Li, Shuai(shuaili@polyu.edu.hk)
英文摘要This paper considers the coordination motion control of multiple robot manipulators by developing a unified framework of super-twisting zeroing neural network (ST-ZNN), and proposes a novel external disturbances suppression model. The proposed ST-ZNN model makes new progresses of both theory and practice by overcoming two limitations in the conventional ZNN (CZNN) models, i.e., the convergence time tending to be infinitely large and the rejection of external disturbances staying at the stage of asymptotic convergence. Then, the global stability, finite-time convergence, and robustness against external disturbances are rigorously proven in the theory. Finally, illustrative coordination motion control tasks, comparisons and performance tests demonstrate the effectiveness and superiority of the proposed ST-ZNN model for coordination motion control of multiple robot manipulators. (C) 2019 Published by Elsevier B.V.
资助项目National Natural Science Foundation of China[61401385] ; National Natural Science Foundation of China[61702146]
WOS研究方向Computer Science
语种英语
WOS记录号WOS:000493950600007
出版者ELSEVIER
源URL[http://119.78.100.138/handle/2HOD01W0/10301]  
专题中国科学院重庆绿色智能技术研究院
通讯作者Li, Shuai
作者单位1.Hong Kong Polytech Univ, Dept Comp, Hung Hom, Hong Kong, Peoples R China
2.Hangzhou Dianzi Univ, Sch Comp Sci & Technol, Hangzhou 310018, Zhejiang, Peoples R China
3.Swansea Univ, Coll Engn, Swansea, W Glam, Wales
4.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing 400714, Peoples R China
推荐引用方式
GB/T 7714		 Chen, Dechao,Li, Shuai,Wu, Qing,et al. Super-twisting ZNN for coordinated motion control of multiple robot manipulators with external disturbances suppression[J]. NEUROCOMPUTING,2020,371:78-90.
APA Chen, Dechao,Li, Shuai,Wu, Qing,&Luo, Xin.(2020).Super-twisting ZNN for coordinated motion control of multiple robot manipulators with external disturbances suppression.NEUROCOMPUTING,371,78-90.
MLA Chen, Dechao,et al."Super-twisting ZNN for coordinated motion control of multiple robot manipulators with external disturbances suppression".NEUROCOMPUTING 371(2020):78-90.

入库方式： OAI收割

来源：重庆绿色智能技术研究院

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