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Asymmetric Bounded Neural Control for an Uncertain Robot by State Feedback and Output Feedback

文献类型：期刊论文

作者Kong, Linghuan6,7; He, Wei6,7; Dong, Yiting5; Cheng, Long3,4; Yang, Chenguang1; Li, Zhijun2
刊名IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
出版日期2021-03-01
卷号51期号:3页码:1735-1746
关键词Neural networks Adaptive systems Nonlinear systems Manipulator dynamics Uncertainty adaptive control asymmetrically bounded inputs neural networks robotic manipulator
ISSN号2168-2216
DOI10.1109/TSMC.2019.2901277
通讯作者He, Wei(weihe@ieee.org)
英文摘要In this paper, an adaptive neural bounded control scheme is proposed for an n-link rigid robotic manipulator with unknown dynamics. With the combination of the neural approximation and backstepping technique, an adaptive neural network control policy is developed to guarantee the tracking performance of the robot. Different from the existing results, the bounds of the designed controller are known a priori, and they are determined by controller gains, making them applicable within actuator limitations. Furthermore, the designed controller is also able to compensate the effect of unknown robotic dynamics. Via the Lyapunov stability theory, it can be proved that all the signals are uniformly ultimately bounded. Simulations are carried out to verify the effectiveness of the proposed scheme.
资助项目National Natural Science Foundation of China[61873298] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[61633016] ; National Natural Science Foundation of China[61751310] ; National Natural Science Foundation of China[61573147] ; Anhui Science and Technology Major Program[17030901029] ; Beijing Science and Technology Project[Z181100003118006] ; Beijing Municipal Natural Science Foundation[L182060] ; Engineering and Physical Sciences Research Council[EP/S001913]
WOS研究方向Automation & Control Systems ; Computer Science
语种英语
WOS记录号WOS:000619380900033
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Anhui Science and Technology Major Program ; Beijing Science and Technology Project ; Beijing Municipal Natural Science Foundation ; Engineering and Physical Sciences Research Council
源URL[http://ir.ia.ac.cn/handle/173211/43237]  
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
通讯作者He, Wei
作者单位1.Univ West England, Bristol Robot Lab, Bristol BS16 1QY, Avon, England
2.Univ Sci & Technol China, Dept Automat, Hefei 230026, Peoples R China
3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
5.Texas Tech Univ, Dept Mech Engn, Lubbock, TX 79409 USA
6.Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 100083, Peoples R China
7.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
推荐引用方式
GB/T 7714		 Kong, Linghuan,He, Wei,Dong, Yiting,et al. Asymmetric Bounded Neural Control for an Uncertain Robot by State Feedback and Output Feedback[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021,51(3):1735-1746.
APA Kong, Linghuan,He, Wei,Dong, Yiting,Cheng, Long,Yang, Chenguang,&Li, Zhijun.(2021).Asymmetric Bounded Neural Control for an Uncertain Robot by State Feedback and Output Feedback.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,51(3),1735-1746.
MLA Kong, Linghuan,et al."Asymmetric Bounded Neural Control for an Uncertain Robot by State Feedback and Output Feedback".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 51.3(2021):1735-1746.

入库方式： OAI收割

来源：自动化研究所

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