| 机械手的神经网络直接离散时间自适应控制算法 |
| |
| 引用本文： | 孙富春,孙增圻,张戎军. 机械手的神经网络直接离散时间自适应控制算法[J]. 清华大学学报(自然科学版), 1997, 0(4) |
| |
| 作者姓名： | 孙富春 孙增圻 张戎军 |
| |
| 作者单位： | 清华大学计算机科学与技术系，国家智能技术与系统实验室 |
| |
| 摘 要： | 提出了一种机械手的神经网络直接离散时间自适应控制算法。该算法是神经网络方法和自适应动态滑动模控制方法的集成。自适应动态滑动模控制的作用有两个：其一是在神经网络控制失灵的情形下提供控制系统的全局稳定性；其二是改善系统的跟随性能。整个系统的全局稳定性和跟随误差的收敛性采用李雅普诺夫稳定性理论进行了证明，并得到了一种新颖的神经网络权值调整算法。
|
| 关 键 词： | 机器人自适应控制；基函数类网络；稳定性；离散时间动态滑动模 |
Direct discrete time adaptive algorithm for manipulator control using neural networks |
| |
| Sun Fuchun,Sun Zengqi,Zhang Rongjun. Direct discrete time adaptive algorithm for manipulator control using neural networks[J]. Journal of Tsinghua University(Science and Technology), 1997, 0(4) |
| |
| Authors: | Sun Fuchun Sun Zengqi Zhang Rongjun |
| |
| Affiliation: | Sun Fuchun,Sun Zengqi,Zhang Rongjun Department of Computer Science and Technology,Tsinghua University,National Laboratory of Intelligence Technology and Systems,Beijing 100084 |
| |
| Abstract: | A direct discrete time adaptive algorithm for manipulator control using neural networks is proposed, which is the integration of a neural network approach with an adaptive implementation of the dynamic sliding mode control. The dynamic sliding mode control serves two purposes, one is to provide the global stability of the closed loop system, and the other is to improve the tracking performance. The whole system stability and tracking error convergence are proved by Lyapunov stability theory which yields a novel neural network weight tuning algorithm. |
| |
| Keywords: | robot adaptive control basis function like networks stability discrete time dynamic sliding mode |
| 本文献已被 CNKI 等数据库收录！ |
