Adaptive PD Neural Network Tracking Control for the Uncertain Robot Manipulator with Unmatched Disturbance

This paper addressed the tracking control problem of the robot manipulator with uncertainties and unmatched disturbance by PD control based on adaptive neural network. Adaptive control methods can deal with the control problem of systems with nonlinear and uncertain dynamics, which use measured data...

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Vydané v:IEEE International Conference on Industrial Technology (Online) s. 1 - 6
Hlavní autori: Wen, Jingdong, Ren, Ling, Peng, Chenchen, Qi, Runhua
Médium: Konferenčný príspevok..
Jazyk:English
Vydavateľské údaje: IEEE 26.03.2025
Predmet:
Adaptive control
Adaptive Tracking Control
Manipulator dynamics
Measurement uncertainty
Neural networks
Nonlinear dynamical systems
PD control
RBF Neural Network
Robot Manipulator
Service robots
Trajectory
Uncertainty
ISSN:2643-2978
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Popis
Shrnutí:This paper addressed the tracking control problem of the robot manipulator with uncertainties and unmatched disturbance by PD control based on adaptive neural network. Adaptive control methods can deal with the control problem of systems with nonlinear and uncertain dynamics, which use measured data of system trajectory in order to learn and compensate the uncertainties and external disturbances. In this work, a nominal PD control law is used to achieve a sub-optimal performance, and a scheme based on a neural network is implemented to act as a nonlinear compensation whose task is to improve the performance of the nominal controller. A two-degree-of-freedom robot manipulator is proposed to validate the proposed scheme.
ISSN:2643-2978
DOI:10.1109/ICIT63637.2025.10965246