A Nonlinear Adaptive Tracking Control Design.pdfVIP

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 5, NO. 1, JANUARY 1997 13 A Nonlinear Adaptive Tracking Control Design in Robotic Systems via Neural Networks Yeong-Chan Chang and Bor-Sen Chen, Senior Member, IEEE Abstract—An adaptive neural-network tracking control with a to plant uncertainties which contain structured or parametric guaranteed H1 performance is proposed for robotic systems with uncertainties and unstructured uncertainties or unmodeled plant uncertainties and external disturbances. A neural-network dynamics , and external disturbances. In order to compensate system is introduced to learn these unknown or uncertain dynamics by an adaptive algorithm. Moreover, the effects on the such uncertainties in the robot manipulator dynamic equa- tracking error due to the approximation error via the adaptive tion, many control strategies have been proposed. There are neural network must be attenuated to a prescribed level, i.e., an basically two underlying strategies to the control of such H1 tracking performance is achieved. Hence, in this study, both uncertain systems: the robust control strategy and the adaptive the H1 tracking theory and adaptive neural-network control control strategy. In the recent development of robust control scheme are combined together to achieve the nonlinear adaptive H1 tracking control design for uncertain or unknown robotic algorithms see, for example, [2], [7], [30], and [32], etc. , systems. The developed control scheme is smooth and semiglobal if an a priori bound of uncertainty is known, then high-gain as well as very simple and computationally ef?cient, since it does feedback laws or saturating-type controllers can be proposed not require a knowledge of either the mathematical model or to treat the tracking of robot motion. Interested readers should the parameterization of t