摘要
An adaptive controller involving a neural network(NN)compensator is proposed to resist the uncertainties in the Euler-Lagrangian system(ELS).Firstly,a proportional-differential(PD)control law is designed for the nominal model.Meanwhile,the uncertainties including model error and external disturbance are separated from the closed-loop system.Then,an adaptive NN compensator based on the online training mode is proposed to eliminate the adverse effect of the uncertainties.In addition,the stability of the closed-loop system is proved by Lyapunov theory.Finally,the effectiveness of the proposed approach is verified on a two-degree-of-freedom robot manipulator.
作者
程新
卢文科
刘华山
CHENG Xin;LU Wenke;LIU Huashan(College of Information Science and Technology,Donghua University,Shanghai 201620,China;Engineering Research Center of Digitized Textile and Fashion Technology,Ministry of Education,Shanghai 201620,China)
基金
Shanghai Rising-Star Program,China (No.19QA1400400)
Natural Science Foundation of Shanghai,China (No.21ZR1401100)
Fundamental Research Funds for the Central Universities,China (No.2232019G-09)
Graduate Student Innovation Fund of Donghua University,China (No.CUSF-DH-D-2021052)。
