文章基本信息

标题：Humanoid Upper Torso Complexity for Displaying Gestures
本地全文：下载
作者：Robert Richardson ; David Devereux ; Jennifer Burt 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
DOI：10.5772/50919
语种：English
出版社：SAGE Publications
摘要：In this paper, a neural network adaptive sliding mode control is proposed for an MEMS triaxial gyroscope with unknown system nonlinearities. An input-output linearization technique is incorporated into the neural adaptive tracking control to cancel the nonlinearities, and the neural network whose parameters are updated from the Lyapunov approach is used to perform the linearization control law. The sliding mode control is utilized to compensate the neural network’s approximation errors. The stability of the closed-loop system can be guaranteed with the proposed adaptive neural sliding mode control. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive neural sliding mode control scheme.
关键词：Neural Network; Sliding Mode Control; Robust Control; Adaptive Control; Lyapunov’s Direct Method