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Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot
المؤلفون المشاركون
Wang, Min
Ye, Huiping
Chen, Zhiguang
المصدر
العدد
المجلد 2017، العدد 2017 (31 ديسمبر/كانون الأول 2017)، ص ص. 1-14، 14ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2017-10-31
دولة النشر
مصر
عدد الصفحات
14
التخصصات الرئيسية
الملخص EN
This paper focuses on neural learning from adaptive neural control (ANC) for a class of flexible joint manipulator under the output tracking constraint.
To facilitate the design, a new transformed function is introduced to convert the constrained tracking error into unconstrained error variable.
Then, a novel adaptive neural dynamic surface control scheme is proposed by combining the neural universal approximation.
The proposed control scheme not only decreases the dimension of neural inputs but also reduces the number of neural approximators.
Moreover, it can be verified that all the closed-loop signals are uniformly ultimately bounded and the constrained tracking error converges to a small neighborhood around zero in a finite time.
Particularly, the reduction of the number of neural input variables simplifies the verification of persistent excitation (PE) condition for neural networks (NNs).
Subsequently, the proposed ANC scheme is verified recursively to be capable of acquiring and storing knowledge of unknown system dynamics in constant neural weights.
By reusing the stored knowledge, a neural learning controller is developed for better control performance.
Simulation results on a single-link flexible joint manipulator and experiment results on Baxter robot are given to illustrate the effectiveness of the proposed scheme.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Wang, Min& Ye, Huiping& Chen, Zhiguang. 2017. Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot. Complexity،Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1143434
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Wang, Min…[et al.]. Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot. Complexity No. 2017 (2017), pp.1-14.
https://search.emarefa.net/detail/BIM-1143434
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Wang, Min& Ye, Huiping& Chen, Zhiguang. Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot. Complexity. 2017. Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1143434
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1143434
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر
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