The position tracking control problem for manipulators is addressed, and an adaptive output feedback controller based on neural network is proposed. The controller does not need an exact model, and is applicable to manipulators control systems with nonlinear uncertain dynamics and environmental disturbances.The controller is composed of three parts: output feedback control based on dynamic compensator, a neural network, and an item of robust control. The adaptive learning law of neural network can be obtained based on the Lyapunov stability theory. Numerical simulations show excellent performance of position control for picking manipulators.
JIA He-ming1, SONG Wen-long1, GUO Shao-bin2, YANG Li-xin3
. Adaptive Output Feedback Control of Manipulators Based on Neural Network[J]. Journal of Applied Sciences, 2013
, 31(4)
: 427
-433
.
DOI: 10.3969/j.issn.0255-8297.2013.04.014
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