期刊名称：TELKOMNIKA (Telecommunication Computing Electronics and Control)
印刷版ISSN：2302-9293
出版年度：2013
卷号：11
期号：3
页码：521-528
DOI：10.12928/telkomnika.v11i3.986
语种：English
出版社：Universitas Ahmad Dahlan
摘要：An adaptive neural network controller is brought forward by the paper to solve trajectory tracking problems of robotic manipulators with uncertainties. The first scheme consists of a PD feedback and a dynamic compensator which is composed by neural network controller and variable structure controller. Neutral network controller is designed to adaptive learn and compensate the unknown uncertainties, variable structure controller is designed to eliminate approach errors of neutral network. The adaptive weight learning algorithm of neural network is designed to ensure online real-time adjustment, offline learning phase is not need; Global asymptotic stability (GAS) of system base on Lyapunov theory is analysised to ensure the convergence of the algorithm. The simulation results show that the kind of the control scheme is effective and has good robustness.
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