Adaptive neural network tracking control of robot manipulators with prescribed performance
文献类型：期刊论文
| 作者 | Xie, X-L; Hou, Z-G ; Cheng, L.; Ji, C.; Tan, M.; Yu, H.
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| 刊名 | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
 |
| 出版日期 | 2011-09-01 |
| 卷号 | 225期号:I6页码:790-797 |
| 关键词 | neural network error transformation prescribed performance |
| 英文摘要 | In this paper, a controller for robot manipulators is proposed to guarantee the tracking error of the systems bounded by predefined decreasing boundary. In this control scheme, a multi-layer neural network is used to approximate the unknown non-linear items, and the robustifying control term is used to compensate the approximation errors. The adaptive laws of weights of the neural network and robustifying control term are derived based on the Lyapunov stability analysis, so that, under appropriate assumptions, the transient and steady-state error bounds can be guaranteed. Compared with the existing work, the adaptable parameters in the proposed method do not need an off-line training procedure for better approximation. Simulations performed on a two-link robot manipulator illustrate the developed controller and demonstrate its performance. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems |
| 研究领域[WOS] | Automation & Control Systems |
| 关键词[WOS] | MIMO NONLINEAR-SYSTEMS ; FUZZY CONTROL |
| 收录类别 | SCI ; ISTP |
| 语种 | 英语 |
| WOS记录号 | WOS:000294469400009 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3427]  |
| 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 |
| 作者单位 | Chinese Acad Sci, State Key Lab Intelligent Control & Management Co, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Xie, X-L,Hou, Z-G,Cheng, L.,et al. Adaptive neural network tracking control of robot manipulators with prescribed performance[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING,2011,225(I6):790-797. |
| APA | Xie, X-L,Hou, Z-G,Cheng, L.,Ji, C.,Tan, M.,&Yu, H..(2011).Adaptive neural network tracking control of robot manipulators with prescribed performance.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING,225(I6),790-797. |
| MLA | Xie, X-L,et al."Adaptive neural network tracking control of robot manipulators with prescribed performance".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 225.I6(2011):790-797. |
入库方式： OAI收割
来源：自动化研究所
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