【摘要】 针对不确定机械手的跟踪控制 ,提出了一种基于神经网络的自适应鲁棒控制器。该控制方案利用一个 Radial basis function神经网络逼近系统非线性不确定性 ,然后 ,通过一个滑模控制项消除网络逼近误差和外部干扰的影响 ,从而能保证闭环系统的稳定性和系统跟踪误差的渐近收敛更多还原

【Abstract】 An adaptive sliding model control scheme based on neural networks is proposed according to the tracking control of uncertain robot manipulators is this paper. The control scheme uses the nonlinear uncertainty of a RBF neural network approximation system, and then eliminates the effects of network approcximation errors and external disturbances with the help of a sliding model controller, which can guarantee the stability of a closed loop system and the asymptotic convergence of system tracking errors.更多还原