Dynamic learning from adaptive neural control of uncertain robots with guaranteed full-state tracking precision
type: Item
instance of: scholarly article
title: Dynamic learning from adaptive neural control of uncertain robots with guaranteed full-state tracking precision
zbMATH Open document ID: 1373.93237
DOI: 10.1155/2017/5860649
author: Min Wang
author: Yanwen Zhang
author: Huiping Ye
published in: Complexity
publication date: 2017-10-26T00:00:00Z
review text: Summary: A dynamic learning method is developed for an uncertain \(n\)-link robot with unknown system dynamics, achieving predefined performance attributes on the link angular position and velocity tracking errors. For a known nonsingular initial robotic condition, performance functions and unconstrained transformation errors are employed to prevent the violation of the full-state tracking error constraints. By combining two independent Lyapunov functions and Radial Basis Function (RBF) Neural Network (NN) approximator, a novel and simple adaptive neural control scheme is proposed for the dynamics of the unconstrained transformation errors, which guarantees uniformly ultimate boundedness of all the signals in the closed-loop system. In the steady-state control process, RBF NNs are verified to satisfy the partial Persistent Excitation (PE) condition. Subsequently, an appropriate state transformation is adopted to achieve the accurate convergence of neural weight estimates. The corresponding experienced knowledge on unknown robotic dynamics is stored in NNs with constant neural weight values. Using the stored knowledge, a static neural learning controller is developed to improve the full-state tracking performance. A comparative simulation study on a 2-link robot illustrates the effectiveness of the proposed scheme.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 68T40
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 68T05
Mathematics Subject Classification ID: 92B20
zbMATH DE Number: 6798439
zbMATH Keywords: dynamic learning
zbMATH Keywords: adaptive neural control
zbMATH Keywords: uncertain \(n\)-link robot
zbMATH Keywords: full-state tracking precision
zbMATH Keywords: Lyapunov functions
zbMATH Keywords: radial basis function (RBF) neural network (NN) approximator
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2017/5860649
OpenAlex ID: W2746868866
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description: scientific article; zbMATH DE number 6798439