典型文献
A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models
文献摘要：
Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks efficiently.As a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm has been proposed and investigated extensively.However,robust model-free control of robotic arms in the presence of noise interference remains a problem worth studying.In this paper,we first propose a new kind of zeroing neural network(ZNN),i.e.,integration-enhanced noise-tolerant ZNN(IENT-ZNN)with integration-enhanced noise-tolerant capability.Then,a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic con-trol problem of both rigid-link and continuum robotic arms,which improves the performance of robotic arms with the distur-bance of noise,without knowing the structural parameters of the robotic arms.The finite-time convergence and robustness of the proposed control scheme are proven by theoretical analysis.Finally,simulation studies and experimental demonstrations ver-ify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness.
文献关键词：
中图分类号：
作者姓名：
Ning Tan;Peng Yu;Zhiyan Zhong;Fenglei Ni
作者机构：
School of Computer Science and Engineering&Key Laboratory of Machine Intelligence and Advanced Computing,Ministry of Education,Sun Yat-sen University,Guangzhou 510006,China;School of Automation,Guangdong Polytechnic Normal University,Guangzhou 510665,China;State Key Laboratory of Robotics and Systems,Harbin Institute of Technology(HIT),Harbin 150080,China
文献出处：
引用格式：
[1]Ning Tan;Peng Yu;Zhiyan Zhong;Fenglei Ni-.A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models)[J].自动化学报（英文版）,2022(10):1778-1791
A类：
IENT
B类：
New,Noise,Tolerant,Dual,Neural,Network,Scheme,Robust,Kinematic,Control,Robotic,Arms,With,Unknown,Models,Taking,advantage,their,inherent,dexterity,robotic,arms,are,competent,completing,many,tasks,efficiently,modeling,complexity,kinematic,uncertainty,free,control,paradigm,has,been,proposed,investigated,extensively,However,presence,noise,interference,remains,problem,worth,studying,In,this,paper,first,new,kind,zeroing,neural,network,ZNN,integration,enhanced,tolerant,capability,Then,unified,dual,scheme,presented,both,rigid,link,continuum,which,improves,performance,distur,bance,without,knowing,structural,parameters,finite,convergence,robustness,proven,by,theoretical,analysis,Finally,simulation,studies,experimental,demonstrations,ify,that,feasible,different,can,achieve,better,results,terms,accuracy
AB值：
0.581207
相似文献
机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
