丁国锋, 王孙安, 林廷圻, 史维祥. 具有H跟踪特性的不确定性机器人神经网络控制[J]. 机器人, 1997, 19(5): 338-343.
引用本文: 丁国锋, 王孙安, 林廷圻, 史维祥. 具有H跟踪特性的不确定性机器人神经网络控制[J]. 机器人, 1997, 19(5): 338-343.
DING Guofeng, WAN Sun’an, LIN Tingqi, SHI Weixiang. NEURAL NETWORK CONTROL OF UNCERTAINTY ROBOTIC MANIPULATOR WITH H TRACKING PERFORMANCE[J]. ROBOT, 1997, 19(5): 338-343.
Citation: DING Guofeng, WAN Sun’an, LIN Tingqi, SHI Weixiang. NEURAL NETWORK CONTROL OF UNCERTAINTY ROBOTIC MANIPULATOR WITH H TRACKING PERFORMANCE[J]. ROBOT, 1997, 19(5): 338-343.

具有H跟踪特性的不确定性机器人神经网络控制

NEURAL NETWORK CONTROL OF UNCERTAINTY ROBOTIC MANIPULATOR WITH H TRACKING PERFORMANCE

  • 摘要: 针对不确定性机器人提出一种具有H跟踪特性的神经网络(NN)控制器,使H∞控制理论与NN有机地结合起来.通过适当选择控制变量加权因子可以使由于NN近似误差以及外部干扰引起的误差动态衰减到期望的程度下.文中基于Lyapunov方法给出了NN学习自适应律,H跟踪特性的证明.最后通过在两自由度机器人控制中的应用表明该方案的可行性.

     

    Abstract: In this paper, a Neural Network control with H tracking performance for uncertainty robotic manipulator is proposed. The control scheme combined H control theory and NN adptive algorithm organically. If the weight to control variables is appropriatly chosen, the influence of both NN aproximation error and external disturbance can be attenuated to a desired level. Based on Lyapunov method, NN learning law is given and H tracking performance is illustrated. Finally, the developed controller is applied to a two-link robotic manipulator. Simulation results demonstrate that the control scheme is effective.

     

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