Adaptive H>inf<∞>/inf<Tracking Control Design via Neural Networks of a Constrained Robot System

2006 ◽  
Author(s):  
A. Petronilho ◽  
A.A.G. Siqueira ◽  
M.H. Terra
Keyword(s):  
Neural Networks ◽  
Tracking Control ◽  
Control Design ◽  
Robot System ◽  
Constrained Robot

Adaptive fuzzy nonlinear ℋ∞ tracking control design of a constrained robot system

2008 ◽  
Author(s):  
Samuel L. Nogueira ◽  
Tatiana de F. P. A. T. Pazelli ◽  
Adriano A. G. Siqueira ◽  
Marco H. Terra
Keyword(s):  
Tracking Control ◽  
Control Design ◽  
Robot System ◽  
Adaptive Fuzzy ◽  
Constrained Robot

Decentralized adaptive tracking control for high-order interconnected stochastic nonlinear time-varying delay systems with stochastic input-to-state stable inverse dynamics by neural networks

2019 ◽  
Vol 41 (13) ◽  
pp. 3612-3625 ◽  
Author(s):  
Wang Qian ◽  
Wang Qiangde ◽  
Wei Chunling ◽  
Zhang Zhengqiang
Keyword(s):  
Neural Networks ◽  
Tracking Control ◽  
Large Scale ◽  
Inverse Dynamics ◽  
Small Neighborhood ◽  
High Order ◽  
Interconnected Systems ◽  
Delay Systems ◽  
Rbf Neural Networks ◽  
Stochastic Input

The paper solves the problem of a decentralized adaptive state-feedback neural tracking control for a class of stochastic nonlinear high-order interconnected systems. Under the assumptions that the inverse dynamics of the subsystems are stochastic input-to-state stable (SISS) and for the controller design, Radial basis function (RBF) neural networks (NN) are used to cope with the packaged unknown system dynamics and stochastic uncertainties. Besides, the appropriate Lyapunov-Krosovskii functions and parameters are constructed for a class of large-scale high-order stochastic nonlinear strong interconnected systems with inverse dynamics. It has been proved that the actual controller can be designed so as to guarantee that all the signals in the closed-loop systems remain semi-globally uniformly ultimately bounded, and the tracking errors eventually converge in the small neighborhood of origin. Simulation example has been proposed to show the effectiveness of our results.

Sign in / Sign up

Export Citation Format

Share Document