| 不确定机械手的自适应神经滑模控制 |
| |
| 引用本文： | 牛玉刚,赵建丛,杨成梧. 不确定机械手的自适应神经滑模控制[J]. 探测与控制学报, 2000, 22(2): 55-59 |
| |
| 作者姓名： | 牛玉刚 赵建丛 杨成梧 |
| |
| 作者单位： | 1. 南京理工大学动力学院810室,江苏,南京,210094
2. 河北农业大学数学教研室,河北,保定,071000 |
| |
| 基金项目： | 国家部委预研基金资助课题 !( 99J16.6.IBQ0 2 14 ) |
| |
| 摘 要： | 针对不确定机械手的跟踪控制 ,提出了一种基于神经网络的自适应鲁棒控制器。该控制方案利用一个 Radial basis function神经网络逼近系统非线性不确定性 ,然后 ,通过一个滑模控制项消除网络逼近误差和外部干扰的影响 ,从而能保证闭环系统的稳定性和系统跟踪误差的渐近收敛
|
| 关 键 词： | 机械手 不确定性 神经网络 自适应控制 滑模控制 |
| 修稿时间： | 1999-12-29 |
Neiral Network-Based Adaptive Sliding Model Control of Uncertain Manipulators |
| |
| NIU Yu-gang,ZHAO Jian-cong,YANG Cheng-wu. Neiral Network-Based Adaptive Sliding Model Control of Uncertain Manipulators[J]. Journal of Detection & Control, 2000, 22(2): 55-59 |
| |
| Authors: | NIU Yu-gang ZHAO Jian-cong YANG Cheng-wu |
| |
| Abstract: | An adaptive sliding model control scheme based on neural networks is proposed according to the tracking control of uncertain robot manipulators is this paper. The control scheme uses the nonlinear uncertainty of a RBF neural network approximation system, and then eliminates the effects of network approcximation errors and external disturbances with the help of a sliding model controller, which can guarantee the stability of a closed loop system and the asymptotic convergence of system tracking errors. |
| |
| Keywords: | manipulators uncertainty neural network tracking control sliding model control adaptive control |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
