共查询到20条相似文献,搜索用时 15 毫秒
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Yen Vu Thi Nan Wang Yao Van Cuong Pham 《International Journal of Control, Automation and Systems》2019,17(3):783-792
International Journal of Control, Automation and Systems - This paper proposes an original robust adaptive controller by using Radial Basis Function Neural networks (RBFNNs) for industrial robot... 相似文献
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基于FNN的滑模自适应控制 总被引:2,自引:0,他引:2
研究一类不确定性非线性系统的直接自适应控制方法。该方法由滑模控制器和模糊神经网络构成,通过平滑切换实现自适应控制策略。仿真结果表明,这种方法既有强鲁棒性,又能有效地消除高频颤动。 相似文献
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针对一类非线性大系统,基于模糊神经网络,提出了一种分散滑模自适应控制方法。由模糊神经网络实现滑模控制,平滑了控制切换信号,消除了滑模控制中出现的颤动现象且使系统有强的鲁棒性,同时在控制器的设计中不需要知道系统中的不确定性和扰动的上界。利用Lyapunov稳定理论证明了闭环系统是稳定的且跟踪误差收敛到零的一个邻域内。 相似文献
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Van‐Truong Nguyen Chyi‐Yeu Lin Shun‐Feng Su Quoc‐Viet Tran 《Asian journal of control》2019,21(2):908-923
In this paper, an adaptive chattering free neural network‐based sliding mode control (ACFN‐SMC) method is proposed for tracking trajectories of redundant parallel manipulators. ACFN‐SMC combines adaptive chattering free radial basis function neural networks (RBFN), sliding mode control with online updating the robust term parameters, and a nonlinear compensation item for reducing tracking errors. The stability of the closed‐loop system with modeling uncertainties, frictional uncertainties, and external disturbances is ensured by using the Lyapunov method. The proposed controller has a simple structure and little computation time while securing dynamic performance with expected quality in tracking trajectories of redundant parallel manipulators. In addition, the ACFN‐SMC strategy does not need to know the upper bound of any uncertainties. From the simulation results, it is evident that the proposed control strategy not only has significantly higher robustness capability for uncertainties but also can achieve better chattering elimination when compared with those using existing intelligent control schemes. 相似文献
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机械臂的动力学模型通常包含一定的结构不确定性,并受到外界未知干扰的影响。针对现有模型的不确定性特点,提出了一种基于非线性扰动观测器的自适应反演滑模控制方法,解决机械臂的轨迹跟踪控制问题。对于外界干扰,利用非线性扰动观测器进行观测补偿,无需上界先验知识;对于结构不确定性,引入反演滑模控制,同时设计自适应律,保证闭环系统的稳定性并增强系统的动态适应性。仿真结果证明,所提出的方法可以有效克服系统不确定性,降低控制输入信号的抖振,最终实现期望轨迹的快速精确跟踪。 相似文献
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基于模糊神经网络的滑模控制 总被引:9,自引:1,他引:9
研究了一类不确定性非线性系统的滑模变结构控制,提出了一种基于模糊神经网络(Fuzzy Neural Networks)的滑模变结构设计方法,设计了控制器的结构,利用动态反向传播算法实现滑模控制,这种方法与一般变结构控制相比不但具有强的鲁棒性而且还能有效地消除抖动现象,同时在设计中不需要知识系统中不确定性和扰动的上界,另外还运用Lyapunov函数从理论上分析上了系统的稳定性。仿真结果说明了本文所提 相似文献
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The synchronization problem is studied in this paper for non-identical chaotic neural networks with time delays and fully unknown parameters, where the mismatched parameters, activation functions and neural network architectures are taken into account. To overcome the difficulty that complete synchronization of non-identical chaotic neural networks cannot be achieved only by utilizing output feedback control, we design an adaptive sliding mode controller to realize the synchronization. Our synchronization criteria are easily verified and do not need to solve any linear matrix inequality. These results generalize a few previous known results and remove some restrictions on the parameters, activation functions and neural network architectures. This paper also presents an illustrative example and uses simulated results of this example to show the feasibility and effectiveness of the proposed scheme. 相似文献
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A general mobile modular manipulator can be defined as a m-wheeled holonomic/nonholonomic mobile platform combining with a n-degree of freedom modular manipulator. This paper presents a sliding mode adaptive neural-network controller for trajectory
following of nonholonomic mobile modular manipulators in task space. Dynamic model for the entire mobile modular manipulator
is established in consideration of nonholonomic constraints and the interactive motions between the mobile platform and the
onboard modular manipulator. Multilayered perceptrons (MLP) are used as estimators to approximate the dynamic model of the
mobile modular manipulator. Sliding mode control and direct adaptive technique are combined together to suppress bounded disturbances
and modeling errors caused by parameter uncertainties. Simulations are performed to demonstrate that the dynamic modeling
method is valid and the controller design algorithm is effective. 相似文献
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In this paper, a robust adaptive terminal sliding mode controller is developed for n-link rigid robotic manipulators with uncertain dynamics. An MIMO terminal sliding mode is defined for the error dynamics of a closed loop robot control system, and an adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties in the Lyapunov sense. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated and a finite time error convergence in the terminal sliding mode can be guaranteed. Also, a useful bounded property of the derivative of the inertial matrix is explored, the convergence rate of the terminal sliding variable vector is investigated, and an experiment using a five bar robotic manipulator is carried out in support of the proposed control scheme. 相似文献
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针对无人机受扰运动,基于Backstepping方法和非线性滑模控制提出了一种鲁棒神经网络飞行控制方案。对无人机姿态角速度层的系统不确定性项,采用径向基函数神经网络并对其权值进行在线调整,从而实现对其进行逼近。将回馈递推设计方法与滑模控制方法结合起来,基于神经网络的输出为无人机设计了一种回馈递推滑模飞行控制器。所设计的飞行控制器用于无人机的姿态控制,仿真结果表明所研究的无人机鲁棒神经网络飞行控制方案是有效的。 相似文献
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针对工业技术的发展对于多关节机械臂的精度与快速控制高要求,提出了一种机械臂卷积神经网络滑模轨迹跟踪控制方法。分析机械臂动力学方程,提取其中的不确定部分,针对不确定部分,构建深度卷积神经网络对其进行补偿,将补偿部分引入到滑模控制律中,通过改进后的滑模控制实现对机械臂轨迹跟踪的精确控制,并通过构建Lyapunov函数论证了系统的稳定性。仿真结果显示该方法能够满足轨迹跟踪要求,且减小了抖振现象。通过与其余三种典型控制方法的对比,测试结果表明,该方法加快了轨迹跟踪误差的收敛,且跟踪精度有了明显的提高。 相似文献