Research on Adaptive Dynamic Surface Backstepping Based Neural Network Control for the Fruit Harvesting RobotChinese Full Text
Ruan Yuzhen;School of Mechanical and Automative Engineering,Fujian University of Technology;
Abstract: An adaptive control algorithm combined the radial base function（RBF） neural network with backstepping based on dynamic surface control（DSC） was presented for single-link flexible robot manipulator.By using DSC technique,the problem of"explosion of complexity"inherent in the backstepping design was overcome.The RBF neural network was used to approximate the unknown and uncertain functions of the systems.Thus.,it could achieve the RBF neural network adaptive backstepping control.Finally,through Lyapunov stability proof,the uniformly ultimately bounded of all signals in the closed-loop system was proved.The simulation results show the effectiveness of the proposed controller.
- DOI：
10.13427/j.cnki.njyi.2015.03.041
- Series：
- Subject：
- Classification Code：
S225.93
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