Affiliation:
1. School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China
Abstract
This paper presents an adaptive neural tracking control approach for a two-joint robotic manipulator with unknown time-varying delays. In order to work out the effect of unknown time-varying delays on the two-joint robotic manipulator, the appropriate Lyapunov–Krasovskii functionals (LKFs) and separation technology are chosen to settle this matter. The neural networks work as an approximator that has the advantage of estimating the unknown function in the system. In this paper, Lyapunov stability analysis can prove that all signals of the closed-loop system are semiglobal uniformly ultimately bounded and the tracking error can converge to a compact neighborhood with respect to zero. The simulation consequences demonstrate the availability of the feedforward control approach.
Funder
National Natural Science Foundation of China
Subject
Multidisciplinary,General Computer Science
Cited by
1 articles.
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