Machine Intelligence Research - Reinforcement learning (RL) algorithms have been demonstrated to solve a variety of continuous control tasks. However, the training efficiency and performance of... 相似文献
International Journal of Control, Automation and Systems - This paper aims to provide a generic robust controller that is able to manipulate all kinds of quadrotor unmanned aerial vehicle (UAV)... 相似文献
In this paper, an adaptive sliding mode neural network(NN) control method is investigated for input delay tractor-trailer system with two degrees of freedom. An uncertain camera-object kinematic tracking error model of a tractor car with n trailers with input delay is proposed. Radial basis function neural networks(RBFNNs) are applied to approximate the unknown functions in the error model. A sliding mode surface with variable structure control is designed by using backstepping method. Then, an adaptive NN sliding mode control method is thus obtained by combining Lyapunov-Krasovskii functionals. The controller realizes the global asymptotic trajectories tracking of the kinematics system. The stability of the closed-loop system is strictly proved by the Lyapunov theory. Matlab simulation results demonstrate the feasibility of the proposed method.