| 基于DRNN的机器人轨迹跟踪自适应控制 |
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| 引用本文： | 胡寿松,周川,刘林.基于DRNN的机器人轨迹跟踪自适应控制[J].应用基础与工程科学学报,1998(4). |
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| 作者姓名： | 胡寿松 周川 刘林 |
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| 作者单位： | 南京航空航天大学自动控制系，６１８研究所 |
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| 基金项目： | 江苏省自然科学基金,航空科学基金 |
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| 摘 要： | 针对模型未知和动力学非线性机器人轨迹跟踪，提出了一种基于分布式动态回归神经网络（ＤＲＮＮ）的自适应控制方法．该方法在ＰＤ动态反馈控制的基础上，引入神经网络辨识器（ＮＮＩ）在线逼近对象的非线性动力学，并设计出神经网络自适应控制器（ＮＮＣ）来补偿机器人动力学非线性造成的误差．仿真结果表明该控制方案具有良好的跟踪性能和较强的鲁棒性．
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| 关 键 词： | 机器人控制 动态回归神经网络 自适应控制 |
Trajectory Tracking Adaptive control of Robotic Manipulators Based on Dynamic Recurrent Neural Networks |
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| HU Shousong,ZHOU Chuan.Trajectory Tracking Adaptive control of Robotic Manipulators Based on Dynamic Recurrent Neural Networks[J].Journal of Basic Science and Engineering,1998(4). |
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| Authors: | HU Shousong ZHOU Chuan |
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| Abstract: | This paper presents an adaptive coposite control architecture for robot manipulators based on dynamic recurrent neural networks (DRNN). The control objective is to adaptively compensate for the unknown nonlinearity of robot. This method combine PD feedback controller will neuroidentifier and neurocontroller, in order to reduce the tracking error caused by nonlinearity. Simulation results reveal that the proposed control scheme has good tracking performance and robustness. |
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| Keywords: | robot control dynamic recurrent neural networks adaptive control |
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