摘要
对电驱动刚性机器人操作手轨迹跟踪控制问题进行了系统研究.利用径向基函数(RBF)神经网络的逼近学习功能,提出了一类神经网络控制策略.并用非线性系统LYAPUNOV数学理论进行了稳定性分析.所提出的控制方案力求保证控制系统具有较强的稳定性和鲁棒性,得到了机器人操作手轨迹跟踪误差的渐近稳定性.在进行严格理论证明的同时,结合计算机数值仿真实验验证所提出的控制方法是可行和有效的.
In this thesis, the trajectory-tracking control problem ot Rigid-hnk Electrically-drtven is studied systemically. Using the learning ability of RBF NN,a NN controllers is proposed. Stability analysis is put up based on Lyapunov nonlinear system theory. The controller in this paper do its best to guarantee the rather strong robustness and stability,asymptotic stability of trajectory tracking errors is obtained. The computer numerous simulations experiment and the theory demonstration also validate that the controller in this dissertation are valid and right.
出处
《甘肃联合大学学报（自然科学版）》
2006年第3期25-28,共4页
Journal of Gansu Lianhe University :Natural Sciences
关键词
电驱动刚性机器人
轨迹跟踪
神经网络
渐近稳定性
Rigid-link Electrically-driven robots
trajectory tracking
neural network
asymptotic stability
