TY - GEN
T1 - Adaptive event-triggered tracking control for a manipulator based on dynamic neural network
AU - Gao, Jie
AU - Zhang, Xiaodong
AU - Qiao, Hong
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/3
Y1 - 2021/7/3
N2 - This paper is focused on the adaptive event-triggered tracking control of a manipulator subjecting to uncertain dynamics and unknown disturbance. To improve the accuracy of estimation and robustness, the adaptive control scheme based on disturbance observer is developed, in which the uncertain parameters are identified by an echo-state dynamic neural network. Moreover, the event-driven signal transportation mechanism is built in the channel of the controller to the actuator. Both stability and feasibility of the overall system under the proposed control scheme are verified based on Lyapunov theories. Finally, the simulation results demonstrate that our method could accomplish both motion tracking in a robust way, meanwhile could reduce communication.
AB - This paper is focused on the adaptive event-triggered tracking control of a manipulator subjecting to uncertain dynamics and unknown disturbance. To improve the accuracy of estimation and robustness, the adaptive control scheme based on disturbance observer is developed, in which the uncertain parameters are identified by an echo-state dynamic neural network. Moreover, the event-driven signal transportation mechanism is built in the channel of the controller to the actuator. Both stability and feasibility of the overall system under the proposed control scheme are verified based on Lyapunov theories. Finally, the simulation results demonstrate that our method could accomplish both motion tracking in a robust way, meanwhile could reduce communication.
UR - https://www.scopus.com/pages/publications/85116275546
U2 - 10.1109/ICARM52023.2021.9536093
DO - 10.1109/ICARM52023.2021.9536093
M3 - 会议稿件
AN - SCOPUS:85116275546
T3 - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
SP - 412
EP - 417
BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Y2 - 3 July 2021 through 5 July 2021
ER -