Adaptive Neural Command Filtered Tracking Control for Flexible Robotic Manipulator With Input Dead-Zone
In this paper, an adaptive neural network (NN) command filtered tracking control method is developed for a flexible robotic manipulator with dead-zone input. To deal with the input dead-zone nonlinearity, it is viewed as a combination of a linear part and bounded disturbance-like term. The Neural ne...
| Κύριοι συγγραφείς: | , |
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| Μορφή: | Άρθρο |
| Γλώσσα: | English |
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IEEE
2019-01-01
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| Σειρά: | IEEE Access |
| Θέματα: | |
| Διαθέσιμο Online: | https://ieeexplore.ieee.org/document/8648172/ |
| _version_ | 1828884879470755840 |
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| author | Huanqing Wang Shijia Kang |
| author_facet | Huanqing Wang Shijia Kang |
| author_sort | Huanqing Wang |
| collection | DOAJ |
| description | In this paper, an adaptive neural network (NN) command filtered tracking control method is developed for a flexible robotic manipulator with dead-zone input. To deal with the input dead-zone nonlinearity, it is viewed as a combination of a linear part and bounded disturbance-like term. The Neural networks (NNs) are used to estimate the uncertain nonlinearities appeared in the control system. By using the command filter technique, the problem of `explosion of complexity' is overcome. The proposed controller guarantees that all the closed-loop signals are bounded and the system output can track the given reference signal. The simulation results are provided to demonstrate the effectiveness of the proposed controller. |
| first_indexed | 2024-12-13T11:16:32Z |
| format | Article |
| id | doaj.art-759933a605514f95b46be5fbe2676d8b |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-13T11:16:32Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-759933a605514f95b46be5fbe2676d8b2022-12-21T23:48:37ZengIEEEIEEE Access2169-35362019-01-017226752268310.1109/ACCESS.2019.28994598648172Adaptive Neural Command Filtered Tracking Control for Flexible Robotic Manipulator With Input Dead-ZoneHuanqing Wang0https://orcid.org/0000-0001-5712-9356Shijia Kang1School of Mathematics and Physics, Bohai University, Jinzhou, ChinaSchool of Mathematics and Physics, Bohai University, Jinzhou, ChinaIn this paper, an adaptive neural network (NN) command filtered tracking control method is developed for a flexible robotic manipulator with dead-zone input. To deal with the input dead-zone nonlinearity, it is viewed as a combination of a linear part and bounded disturbance-like term. The Neural networks (NNs) are used to estimate the uncertain nonlinearities appeared in the control system. By using the command filter technique, the problem of `explosion of complexity' is overcome. The proposed controller guarantees that all the closed-loop signals are bounded and the system output can track the given reference signal. The simulation results are provided to demonstrate the effectiveness of the proposed controller.https://ieeexplore.ieee.org/document/8648172/Adaptive neural network controlrobotic manipulatordead-zonecommand-filter techniquebackstepping |
| spellingShingle | Huanqing Wang Shijia Kang Adaptive Neural Command Filtered Tracking Control for Flexible Robotic Manipulator With Input Dead-Zone IEEE Access Adaptive neural network control robotic manipulator dead-zone command-filter technique backstepping |
| title | Adaptive Neural Command Filtered Tracking Control for Flexible Robotic Manipulator With Input Dead-Zone |
| title_full | Adaptive Neural Command Filtered Tracking Control for Flexible Robotic Manipulator With Input Dead-Zone |
| title_fullStr | Adaptive Neural Command Filtered Tracking Control for Flexible Robotic Manipulator With Input Dead-Zone |
| title_full_unstemmed | Adaptive Neural Command Filtered Tracking Control for Flexible Robotic Manipulator With Input Dead-Zone |
| title_short | Adaptive Neural Command Filtered Tracking Control for Flexible Robotic Manipulator With Input Dead-Zone |
| title_sort | adaptive neural command filtered tracking control for flexible robotic manipulator with input dead zone |
| topic | Adaptive neural network control robotic manipulator dead-zone command-filter technique backstepping |
| url | https://ieeexplore.ieee.org/document/8648172/ |
| work_keys_str_mv | AT huanqingwang adaptiveneuralcommandfilteredtrackingcontrolforflexibleroboticmanipulatorwithinputdeadzone AT shijiakang adaptiveneuralcommandfilteredtrackingcontrolforflexibleroboticmanipulatorwithinputdeadzone |