| 神经网络直接自适应控制器的设计与实现 |
| |
| 引用本文： | 张光海,徐建闽,蔡常天,撒元功,毛宗源,周其节.神经网络直接自适应控制器的设计与实现[J].华南理工大学学报(自然科学版),1999,27(3):1-6. |
| |
| 作者姓名： | 张光海 徐建闽 蔡常天 撒元功 毛宗源 周其节 |
| |
| 作者单位： | 华南理工大学自动控制工程系,广州,510641 |
| |
| 基金项目： | 国家自然科学基金,广东省自然科学基金 |
| |
| 摘 要： | 柔性机器人在受限运动时由于控制对象极其复杂而难以控制。为了解决受限柔性机器人机械臂难以精确定位问题提出并设计了一种神经网络直接自适应控制器。其控制效果在研究的受限柔性机器人控制实验上作了仿真与实验。结果表明该控制器能经较高精度控制受限柔性机器人的机械臂精确定位。本文是深入研究受限柔性机器人控制问题的基础。
|
| 关 键 词： | 柔性机器人 神经网络 自适应控制 受限运动 |
| 修稿时间： | 1998-04-22 |
THE DESIGN AND REALIZATION OF DIRECT ADAPTIVE CONTROLLER BASED ON NEURAL NETWORK |
| |
| Zhang Guanghai,Xu Jiangmin,Cai Changtian,Sa Yuangong,Mao Zongyuan,Zhou Qijie.THE DESIGN AND REALIZATION OF DIRECT ADAPTIVE CONTROLLER BASED ON NEURAL NETWORK[J].Journal of South China University of Technology(Natural Science Edition),1999,27(3):1-6. |
| |
| Authors: | Zhang Guanghai Xu Jiangmin Cai Changtian Sa Yuangong Mao Zongyuan Zhou Qijie |
| |
| Abstract: | As a result of the complexity of the control object, the constrained flexible robot is difficult to control. In order to solve the problem that the constrained flexible mechanical arm is difficult to position accurately, this paper proposes and designs a direct adaptive controller based on neural network. The result of control on the constrained flexible robot experiment platform shows that this kind of controller can control the accurate position of the mechanical arm. This paper is the basis of researching on the problem of constrained flexible robot. |
| |
| Keywords: | flexible robot neural network adaptive control constrained motion |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
