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

Complexity

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

الفلسفة

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