Adaptive output-feedback control for stochastic robot system based on neural network

Autor:	Zhaojun Zhang, Min Hui-Fang, Duan Na
Rok vydání:	2015
Předmět:	Computer Science::Robotics Output feedback Nonlinear system Robotic systems Artificial neural network Control theory Computer science Backstepping Bounded function Control (management) Control engineering Manipulator
Zdroj:	2015 34th Chinese Control Conference (CCC).
DOI:	10.1109/chicc.2015.7259914
Popis:	This paper investigates the output-feedback control problem for a class of robot system with stochastic disturbances and a single-link manipulator. By utilizing a novel neural network (NN) approximation approach, the adaptive parameter is only one and the nonlinear terms are successfully handled without growth conditions. The constructed adaptive output-feedback controller guarantees the closed-loop robot system to be semi-globally uniformly ultimately bounded (SGUUB). Finally, the effectiveness of the controller is validated by simulating the robot system.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::1377971f30eb1bf4fe38a1cdbe4833b6 https://doi.org/10.1109/chicc.2015.7259914 Zobrazit plný text záznamu