Weighted Multiple-Model Neural Network Adaptive Control for Robotic Manipulators with Jumping Parameters
Joint Authors
Zhu, Quanmin
Zhang, Weicun
Li, Jiazhi
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-01-22
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This study addresses the tracking control issue for n-link robotic manipulators with largely jumping parameters.
Based on radial basis function neural networks (RBFNNs), we propose weighted multiple-model neural network adaptive control (WMNNAC) approach.
To cover the variation ranges of the parameters, different models of robotic are constructed.
Then, the corresponding local neural network controller is constructed, in which the neural network has been used to approximate the uncertainty part of the control law, and an adaptive observer is implemented to estimate the true external disturbance.
The WMNNAC strategy with improved weighting algorithm is adopted to ensure the tracking performance of the robotic manipulator system when parameters jump largely.
Through the Lyapunov stability theory and the method of virtual equivalent system (VES), the stability of the closed-loop system is proved.
Finally, the simulation results of a two-link manipulator verify the feasibility and efficiency of the proposed WMNNAC strategy.
American Psychological Association (APA)
Li, Jiazhi& Zhang, Weicun& Zhu, Quanmin. 2020. Weighted Multiple-Model Neural Network Adaptive Control for Robotic Manipulators with Jumping Parameters. Complexity،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1141352
Modern Language Association (MLA)
Li, Jiazhi…[et al.]. Weighted Multiple-Model Neural Network Adaptive Control for Robotic Manipulators with Jumping Parameters. Complexity No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1141352
American Medical Association (AMA)
Li, Jiazhi& Zhang, Weicun& Zhu, Quanmin. Weighted Multiple-Model Neural Network Adaptive Control for Robotic Manipulators with Jumping Parameters. Complexity. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1141352
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1141352