基于奇异摄动理论的电驱动机器人神经网络控制

Neural Network Control of Electrically-driven Robot Based on Singular Perturbation Theory

在驱动回路电容较小的情况下,对电驱动刚性机器人操作手的轨迹跟踪问题,提出了一种基于奇异摄动理论的神经网络控制设计方法。稳定性分析表明系统跟踪误差最终一致有界,数值实验验证了所提的算法的可行性和有效性。

For the rigid-link electrically-driven robot manipulators with small inductance, we propose a neural network trajectory-tracking strategy based on the singular perturbation theory. It is proved in this paper that the tracking error is ultimately uniformly bounded, and the numerical simulation shows that the proposed method is feasible and efficient.