TY - GEN
T1 - Neural network based global adaptive dynamic surface tracking control for robot manipulators
AU - Teng, Tao
AU - Yang, Chenguang
AU - Xu, Bin
AU - Li, Zhijun
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/21
Y1 - 2016/10/21
N2 - A neural network empowered dynamic surface control (DSC) technique is addressed for robot manipulators system with unknown dynamics. In comparison to the conventional adaptive neural control algorithms, which could guarantee semi-globally uniformly ultimate boundedness (SGUUB) only when neural approximation keeps effective, the scheme designed in this paper ensures globally uniformly ultimately bounded (GUUB) stability by integrating a switching mechanism which incorporates an additional robust controller to drag the transient state variables back when they go beyond the neural approximation region. Simulation studies on 2-joint robot manipulator have been carried out to validate the designed controller has excellent performance.
AB - A neural network empowered dynamic surface control (DSC) technique is addressed for robot manipulators system with unknown dynamics. In comparison to the conventional adaptive neural control algorithms, which could guarantee semi-globally uniformly ultimate boundedness (SGUUB) only when neural approximation keeps effective, the scheme designed in this paper ensures globally uniformly ultimately bounded (GUUB) stability by integrating a switching mechanism which incorporates an additional robust controller to drag the transient state variables back when they go beyond the neural approximation region. Simulation studies on 2-joint robot manipulator have been carried out to validate the designed controller has excellent performance.
UR - https://www.scopus.com/pages/publications/84998886348
U2 - 10.1109/ICARM.2016.7606888
DO - 10.1109/ICARM.2016.7606888
M3 - 会议稿件
AN - SCOPUS:84998886348
T3 - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
SP - 20
EP - 25
BT - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016
Y2 - 18 August 2016 through 20 August 2016
ER -