Robust neural network control of robotic manipulations via switching strategy

Title:

Robust neural network control of robotic manipulations via switching strategy

Creator:

Yu, Lei, Fei, Shumin, Li, Yongmin, Yang, Gang, and Sun, Lining

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:0f471966-3f5c-4411-989a-95862288b499
uuid:0f471966-3f5c-4411-989a-95862288b499

Subject:

robotic manipulators, switching control strategy, RBF neural networks, and multiple Lyapunov function

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

In this paper, a robust neural network control scheme for the switching dynamical model of the robotic manipulators has been addressed. Radial basis function (RBF) neural networks are employed to approximate unknown functions of robotic manipulators and a compensation controller is designed to enhance system robustness. The weight update law of the robotic manipulator is based on switched multiple Lyapunov function method and the periodically switching law which is suitable for practical implementation is constructed. The proposed control scheme can guarantee that the resulting closed-loop switched system is asymptotically Lyapunov stable and the tracking error performance of the control system is well reached. Finally, a simulation example of two-link robotic manipulators is shown to illustrate the effectiveness of the proposed control method.

Language:

English

Rights:

http://creativecommons.org/publicdomain/mark/1.0/
policy:public

Coverage:

[309]-320

Source:

Kybernetika | 2015 Volume:51 | Number:2

Harvested from:

CDK

Metadata only:

false