Changchun Institute of Optics,Fine Mechanics and Physics,CAS
Adaptive practical predefined-time neural tracking control for multi-joint uncertain robotic manipulators with input saturation | |
H. Sai, Z. Xu and E. Zhang | |
2023 | |
发表期刊 | Neural Computing and Applications
![]() |
ISSN | 09410643 |
卷号 | 35期号:27页码:20423-20440 |
摘要 | Predefined-time stability contributes to constraining the tracking time of robotic manipulators, but the stringent judgment conditions restrict its practical application. This paper studies an adaptive practical predefined-time neural control scheme for uncertain multi-joint robotic manipulators with input saturation. First, a practical predefined-time stability criterion is established to ensure the closed-loop stability of uncertain systems. Then, the unknown robotic dynamic model can be approximated by radial basis function neural networks. Meanwhile, the input saturation of the robotic manipulator is compensated by introducing an adaptive term. Based on the constructed stability criterion, the proposed controller is proved to guarantee that the tracking error of the system converges to a small neighborhood of the origin within a predefined time and is independent of the initial state. Finally, the effectiveness of the proposed control scheme is emphasized by numerical simulations and experiments of a two-joint and a nine-joint robotic manipulator, respectively. © 2023, The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature. |
DOI | 10.1007/s00521-023-08797-2 |
URL | 查看原文 |
收录类别 | sci ; ei |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ciomp.ac.cn/handle/181722/67822 |
专题 | 中国科学院长春光学精密机械与物理研究所 |
推荐引用方式 GB/T 7714 | H. Sai, Z. Xu and E. Zhang. Adaptive practical predefined-time neural tracking control for multi-joint uncertain robotic manipulators with input saturation[J]. Neural Computing and Applications,2023,35(27):20423-20440. |
APA | H. Sai, Z. Xu and E. Zhang.(2023).Adaptive practical predefined-time neural tracking control for multi-joint uncertain robotic manipulators with input saturation.Neural Computing and Applications,35(27),20423-20440. |
MLA | H. Sai, Z. Xu and E. Zhang."Adaptive practical predefined-time neural tracking control for multi-joint uncertain robotic manipulators with input saturation".Neural Computing and Applications 35.27(2023):20423-20440. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Adaptive practical p(2711KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
个性服务 |
推荐该条目 |
保存到收藏夹 |
查看访问统计 |
导出为Endnote文件 |
谷歌学术 |
谷歌学术中相似的文章 |
[H. Sai, Z. Xu and E. Zhang]的文章 |
百度学术 |
百度学术中相似的文章 |
[H. Sai, Z. Xu and E. Zhang]的文章 |
必应学术 |
必应学术中相似的文章 |
[H. Sai, Z. Xu and E. Zhang]的文章 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论