基于梯度神经网络的轮式移动机械臂轨迹跟踪控制方法

A trajectory tracking control method of wheel mobile manipulator based on gradient neural network

针对轮式移动机械臂的轨迹跟踪控制问题,构建了轮式移动机械臂运动学数学模型,设计了一类具有快速收敛特性的梯度神经网络控制器.在无噪声干扰下,梯度神经网络控制器实现了轮式移动机械臂的轨迹跟踪;在噪声干扰下,梯度神经网络控制器能够有效抑制噪声干扰,验证了算法的可行性、有效性和优越性.

A kinematics model of mobile manipulator is developed, which aims at the trajectory tracking control problem of mobile manipulator.Furthermore, a kind of gradient neural network controller with rapidly convergent performance is designed for mobile manipulator.In the absence of noise, the gradient neural network controller realizes the trajectory tracking of the mobile manipulator.In the case of noise interference, the gradient neural network controller can effectively suppress noise interference, which verifies the feasibility, effectiveness and superiority of the proposed method.