基于RBF神经网络的机械臂运动控制算法及应用研究-控制理论与控制工程专业论文.docxVIP

基于 RBF 神经网络的机械臂运动控制算法及应用研究 兰州交通大学硕士学位论文 万方数据 万方数据 类方法相比，基于EC-RBF学习算法的RBFNN在机械臂轨迹跟踪控制中跟踪效果更好。 关键词：径向基函数神经网络；熵聚类；模型参考自适应控制；机械臂；轨迹跟踪 论文类型：应用基础研究 - II -  Abstract Trajectory tracking control of robot manipulator is the important part in its motion control. Control system of robot manipulator is a multi-variable, strong coupling, and highly nonlinear uncertain systems, trajectory tracking requires the robot manipulator to move according to a desired trajectory that has been given. Model reference adaptive control (MARC) based on radial basis function neural networks (RBFNN) not only has strong cap