A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models
文献类型：期刊论文
| 作者 | Ning Tan; Peng Yu; Zhiyan Zhong; Fenglei Ni |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2022 |
| 卷号 | 9期号:10页码:1778-1791 |
| 关键词 | Dual zeroing neural networks (ZNN) finite-time convergence model-free robot control robustness analysis |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2022.105869 |
| 英文摘要 | Taking advantage of their inherent dexterity, robotic arms are competent in completing many tasks efficiently. As a result of the modeling complexity and kinematic uncertainty of robotic arms, model-free control paradigm has been proposed and investigated extensively. However, robust model-free control of robotic arms in the presence of noise interference remains a problem worth studying. In this paper, we first propose a new kind of zeroing neural network (ZNN), i.e., integration-enhanced noise-tolerant ZNN (IENT-ZNN) with integration-enhanced noise-tolerant capability. Then, a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic control problem of both rigid-link and continuum robotic arms, which improves the performance of robotic arms with the disturbance of noise, without knowing the structural parameters of the robotic arms. The finite-time convergence and robustness of the proposed control scheme are proven by theoretical analysis. Finally, simulation studies and experimental demonstrations verify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/49708]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Ning Tan,Peng Yu,Zhiyan Zhong,et al. A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(10):1778-1791. |
| APA | Ning Tan,Peng Yu,Zhiyan Zhong,&Fenglei Ni.(2022).A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models.IEEE/CAA Journal of Automatica Sinica,9(10),1778-1791. |
| MLA | Ning Tan,et al."A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models".IEEE/CAA Journal of Automatica Sinica 9.10(2022):1778-1791. |
入库方式： OAI收割
来源：自动化研究所
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