基于动态神经网络的双连杆机械臂自适应控制

Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI:10.1109/ACC.1999.786507

Wen Yu, A. Poznyak, Encarna Sosa Sánchez

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引用次数: 5

摘要

提出了一种机器人机械臂的神经控制方法。采用单层动态神经网络对未知机械手进行估计，然后基于神经辨识器推导出直接线性化控制器。由于逼近能力有限，采用另一类pd控制器对未建模的动力学进行补偿。本文的主要贡献是建立了辨识误差和跟踪误差的有界性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Adaptive control of two-link manipulator via dynamic neural network

A neurocontrol method for robot manipulators is presented. A single-layer dynamic neural network is used to estimate the unknown manipulators, then a direct linearization controller is derived based on the neuro identifier. Because the approximation capability is limited, another PD-like controller is applied to compensate the unmodeled dynamics. The main contribution of the paper is that the boundness of the identification error and tracking error are established.

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Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)

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