【作者】 陈卫东； 唐得志； 王洪瑞；

【Author】 CHEN Wei-Dong TANG De-Zhi WANG Hong-Rui (Department of Electronic Engineering,Yanshan Univertsity,Qinhuangdao,066004,China)

【机构】 燕山大学电气工程学院；

【摘要】 针对不确定机器人轨迹跟踪控制,提出了基于模糊变结构方法下的神经网络自适应控制.该控制方案通过利用RBF自适应神经网络补偿系统的不确定性,同时采用一种低抖振的模糊变结构控制器消除了神经网络的逼近误差,从而有效的克服了系统不确定性的影响,保证机器人系统的输出跟踪误差渐近收敛于零。仿真实例证实了理论分析结果的正确性。更多还原

【Abstract】 An adaptive neural robust controller based on fuzzy variable structure is presented for trajectory of uncertain robot manipulators.An RBF neural network is used to compensate the plant uncertainties in this control scheme,in addition,fuzzy sliding-mode control action is included to eliminate the effect of approximation error via neural network approximation.It is shown that the proposed control scheme can effectively eliminate the effects of system uncertainties,and guarantees the asymptotic convergence of tracking error.Simulation results prove the validity of theoretic analysis results.更多还原