| 引用本文: | 徐建闽 周其节 梁天培.不确定性机器人的神经网络补偿控制[J].控制理论与应用,1995,12(3):342~350.[点击复制] |
| XU Jianmin and ZHOU Qijie T . P. Leung.Neural Compensating Control of Uncertain Robots[J].Control Theory and Technology,1995,12(3):342~350.[点击复制] |
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| 不确定性机器人的神经网络补偿控制 |
| Neural Compensating Control of Uncertain Robots |
| 摘要点击 821 全文点击 468 投稿时间：1994-03-22 修订日期：1994-08-29 |
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| DOI编号 |
| 1995,12(3):342-350 |
| 中文关键词 机器人 RBF神经网络 鲁棒补偿控制 |
| 英文关键词 robot manipulator RBF neural network robust compensating control |
| 基金项目 |
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| 中文摘要 |
| 本文研究具有不确定性的机器人的轨迹跟踪控制问题。提出了一种由计算力矩控制器和神经网络补偿控制器构成的控制方案。探讨了一种用神经网络估计机器人系统不确定性的途径。给出了神经补偿控制器的设计方法，并证明了闭环系统的收敛性。仿真结构表明所提方案具有很好的鲁棒性和抗干扰能力。 |
| 英文摘要 |
| A new trajectory tracking control scheme of robot manipulators is developed in this paper. The proposed scheme consists of a well known computed torque controller, which is based on the known nominal robot dynamics model, and a compensating controller, which is realized incorporating an radial basis function (RBF) neural network estimator and a discontinuous control signal. The compensating controller works like an add-on device. The proposed control scheme is effective to the robot systems with unknown parameters and disturbance such as Coulomb friction. The simulation results have demonstrated the feasibility of the proposed scheme. |