机器人的非奇异终端神经滑模轨迹跟踪控制

针对具有不确定性的机器人系统,为提高系统的稳态跟踪精度,提出一种非奇异终端神经滑模轨迹跟踪控制方案.控制器采用改进的非奇异终端滑模面,并基于径向基函数神经网络自适应调整控制律的切换项,不但克服了在设计中需要知道系统不确定性的上界的限制,而且平滑了控制信号.可应用Lyapunov稳定性理论证明了系统的渐近稳定性和跟踪误差的渐近收敛性.仿真结果验证了控制方法不仅能够保证机器人系统轨迹跟踪控制的快速性和鲁棒性,而且有效地削弱了抖振,可见方案是可行且有效的.

Nonsingular Terminal Neural Sliding Mode Control for Trajectory Tracking of Robot Manipulators

A nonsingular terminal neural sliding mode control scheme is proposed for trajectory tracking of robot manipulators system with uncertainties.This controller employs improved nonsingular terminal sliding mode manifold.And a radial basis function neural network is employed to adaptively adjust the switching term of the output of the controller,consequently,not only the constraint that the bound of uncertainties of the system should be known in the design of the controller is overcome,but also the control sig...