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Global adaptive tracking control of robot manipulators using neural networks with finite-time learning convergence

  • Chenguang YangEmail author
  • Tao Teng
  • Bin Xu
  • Zhijun Li
  • Jing Na
  • Chun-Yi Su
Regular Papers Intelligent Control and Applications

Abstract

In this paper, the global adaptive neural control with finite-time (FT) convergence learning performance for a general class of nonlinear robot manipulators has been investigated. The scheme proposed in this paper offers a subtle blend of neural controller with robust controller, which palliates the limitation of neural approximation region to ensure globally uniformly ultimately bounded (GUUB) stability by integrating a switching mechanism. Morever, the proposed scheme guarantees the estimated neural weights converging to optimal values in finite time by embedding an adaptive learning algorithm driven by the estimated weights error. The optimal weights obtained through the learning process of the neural networks (NNs) will be reused next time for repeated tasks, and can thus reduce computational load, improve transient performance and enhance robustness. The simulation studies have been carried out to demonstrate the superior performance of the controller in comparison to the conventional methods.

Keywords

Finite-time learning convergence globally uniformly ultimate boundedness neural networks robot manipulators 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany 2017

Authors and Affiliations

  • Chenguang Yang
    • 1
    • 2
    Email author
  • Tao Teng
    • 1
  • Bin Xu
    • 3
  • Zhijun Li
    • 1
  • Jing Na
    • 4
  • Chun-Yi Su
    • 1
  1. 1.Key Lab of Autonomous Systems and Networked Control, Ministry of EducationSouth China University of TechnologyGuangzhouChina
  2. 2.Zienkiewicz Centre for Computational EngineeringSwansea UniversitySwanseaUK
  3. 3.School of AutomationNorthwestern Polytechnical UniversityXianChina
  4. 4.Faculty of Mechanical & Electrical EngineeringKunming University of Science & TechnologyKunmingChina

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