TY - GEN
T1 - Global neural learning finite-time control of robot manipulators with guaranteed transient tracking performance
AU - Chen, Lepeng
AU - Cui, Rongxin
AU - Yang, Chenguang
AU - Yan, Weisheng
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - A global neural learning tracking control for robot manipulators to guarantee the transient performance and finite-time convergence is investigated. The paper develops some auxiliary filtered variables and a nonsingular terminal slide mode (NTSM) surface to guarantee the tracking error converging to zero with finite time. An error transformation function is also introduced to deduce the control law, which ensure that the transient tracking error never violate the predefined boundedness. Furthermore, under the persistent excitation (PE) condition, the weights of neural networks (NNs) will converge to optimal values with finite time, which can be reused to decrease the computational cost. Compared experimental results are carried out to verify the superior performance of our controller.
AB - A global neural learning tracking control for robot manipulators to guarantee the transient performance and finite-time convergence is investigated. The paper develops some auxiliary filtered variables and a nonsingular terminal slide mode (NTSM) surface to guarantee the tracking error converging to zero with finite time. An error transformation function is also introduced to deduce the control law, which ensure that the transient tracking error never violate the predefined boundedness. Furthermore, under the persistent excitation (PE) condition, the weights of neural networks (NNs) will converge to optimal values with finite time, which can be reused to decrease the computational cost. Compared experimental results are carried out to verify the superior performance of our controller.
UR - http://www.scopus.com/inward/record.url?scp=85073255295&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2019.8834000
DO - 10.1109/ICARM.2019.8834000
M3 - 会议稿件
AN - SCOPUS:85073255295
T3 - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
SP - 660
EP - 665
BT - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Y2 - 3 July 2019 through 5 July 2019
ER -