| 机械手臂基于神经网络动态补偿的自适应控制 |
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| 引用本文： | 关新平,唐英平,段广仁. 机械手臂基于神经网络动态补偿的自适应控制[J]. 控制理论与应用, 2003, 20(1): 101-104 |
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| 作者姓名： | 关新平 唐英平 段广仁 |
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| 作者单位： | 1. 燕山大学,电气工程学院,河北,秦皇岛,066004
2. 哈尔滨工业大学,控制工程系,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金(6950400260274023)资助项目 |
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| 摘 要： | 研究了模型具有不确定性的机械手臂的跟踪控制问题.由于模型不确定性的存在,基于精确模型设计的控制律很难达到理想的控制效果.针对这种情况,在基于标称模型设计的控制律的基础上,采用神经网络来补偿模型的不确定性,由于神经网络存在逼近误差,因此在控制器设计时,引入了H∞ 鲁棒项,使得网络逼近误差达到指定的削弱水平并且跟踪误差渐近收敛到零,仿真结果表明了该方法的有效性.
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| 关 键 词： | 机械手臂 神经网络 自适应控制 |
| 文章编号： | 1000-8152(2003)01-0101-04 |
| 收稿时间： | 2000-12-25 |
| 修稿时间： | 2000-12-25 |
Adaptive control for manipulator based on neural-network dynamic compensation |
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| GUAN Xin-ping,TANG Ying-gan,DUAN Guang-ren. Adaptive control for manipulator based on neural-network dynamic compensation[J]. Control Theory & Applications, 2003, 20(1): 101-104 |
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| Authors: | GUAN Xin-ping TANG Ying-gan DUAN Guang-ren |
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| Affiliation: | Institute of Electrical Engineering Yanshan University, Hebei Qinhuangdao 066004,China; Department of Control Engineering Harbin Institute of Technology, Heilongjiang Harbin 150001,China |
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| Abstract: | The tracking control of manipulator with model uncertainties and external disturbance is studied. Due to the uncertainties, the controller design based on exact model is difficult to achieve. Thus a neural network is introduced to compensate the uncertainties based on the controller with exact model.Considering the existence of approximation error of the neural network, the H-infinity robust controller is introduced to reduce the approximation error to a prescribed level and the tracking error tends to zero. The effectiveness of this approach is demonstrated by the simulation examples. |
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| Keywords: | manipulator neural networks adaptive control |
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