Xiang Li; Chien Chern Cheah, "Adaptive Neural Network Control of Robot Based on a Unified Objective Bound," Control Systems Technology, IEEE Transactions on , vol.22, no.3, pp.1032,1043, May 2014 doi: 10.1109/TCST.2013.2293498
In the conventional adaptive neural network control of robotic manipulator, the desired position of robot end effector is specified as a point or trajectory. In addition, it is usually difficult to guarantee the transient performance of adaptive neural network control system due to the initialization error of the weight of neural network. In this paper, a new control formulation is proposed for the adaptive neural network control
of robotic manipulator, which unifies existing neural network control tasks such as setpoint control, trajectory tracking control and trajectory tracking control with prescribed performance bound. The proposed method also includes a new adaptive neural network control scheme where the objective for the robot end effector can be specified as a dynamic region, instead of the desired position or trajectory. The stability of the closed-loop system is analyzed by using Lyapunov-like analysis. Experimental results are presented to illustrate the performance of the proposed approach and the energy-saving property of the proposed neural network controller with dynamic region.
Agency For Science, Technology And Research of Singapore (A*STAR), (Reference No. 1121202014)
(c) 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.