| 漂浮基空间机器人的径向基神经网络鲁棒自适应控制 |
| |
| 引用本文： | 张文辉,高九州,马静,齐乃明. 漂浮基空间机器人的径向基神经网络鲁棒自适应控制[J]. 智能系统学报, 2011, 6(2): 114-118. DOI: 10.3969/j.issn.1673-4785.2011.02.004 |
| |
| 作者姓名： | 张文辉 高九州 马静 齐乃明 |
| |
| 作者单位： | 1. 哈尔滨工业大学航天学院,黑龙江哈尔滨,150001
2. 东北农业大学工程学院,黑龙江哈尔滨,150001 |
| |
| 基金项目： | 中国航天科技集团创新基金资助项目 |
| |
| 摘 要： | 针对一类同时具有参数及非参数不确定性的自由漂浮空间机器人系统的轨迹跟踪问题,采用了一种RBF神经网络的自适应鲁棒补偿控制策略.对于系统的参数不确定性,通过对径向基神经网络来自适应学习并补偿,逼近误差通过滑模控制器消除,神经网络权重的自适应修正规则基于Lyapunov函数方法得到;而非参数不确定通过鲁棒控制器来实时自适应...
|
| 关 键 词： | 神经网络 鲁棒控制 空间机器人 自适应控制 |
The RBF neural network robust adaptive control of a free-floating space robot |
| |
| ZHANG Wenhui,GAO Jiuzhou,MA Jing,QI Naiming. The RBF neural network robust adaptive control of a free-floating space robot[J]. CAAL Transactions on Intelligent Systems, 2011, 6(2): 114-118. DOI: 10.3969/j.issn.1673-4785.2011.02.004 |
| |
| Authors: | ZHANG Wenhui GAO Jiuzhou MA Jing QI Naiming |
| |
| Affiliation: | ZHANG Wenhui1,GAO Jiuzhou1,MA Jing2,QI Naiming1(1.School of Aerospace,Harbin Institute of Technology,Harbin 150001,China,2.Northeast Agriculture University,Department of Engineering,China) |
| |
| Abstract: | The trajectory tracking of a class of free-floating space robot manipulators with parameter and non-parameter uncertainties was considered.An adaptive robust compensation control algorithm was proposed based on an RBF neural network.Neural networks are used for adaptive learning and compensating the unknown system for parameter uncertainties.The approaching error was eliminated by a sliding controller.The neural network weight adaptive correction laws were obtained based on the Lyapunov analysis approach,wh... |
| |
| Keywords: | neural network robust control space robot adaptive control |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
