Tracking control of nonlinear systems is a hot topic in various fields, especially in robotics. In this paper,a nonlinear one-link(1L) robotsystem with motor dynamics(MD) included is investigated, and a novel method,...
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ISBN:
(纸本)9781509046584
Tracking control of nonlinear systems is a hot topic in various fields, especially in robotics. In this paper,a nonlinear one-link(1L) robotsystem with motor dynamics(MD) included is investigated, and a novel method, i.e.,Zhang-dynamics(ZD) method, is applied to solve the tracking control problem of this nonlinear system. A ZD controller of the nonlinear MD-included 1L robotsystem is designed. The simpleness and effectiveness of ZD method are proved through theoretical analysis. Moreover, computer-simulation results substantiate the high performance of the ZD controller. It is worth pointing out that our research provides the feasibility of applying ZD method in more and more practical fields.
In view of tracking-control problems of dynamics-included robotsystems, the Zhang neural-dynamics (or termed, zeroing neural-dynamics, ZND) proposed by Zhang et al is introduced and investigated. In this paper, simul...
详细信息
ISBN:
(纸本)9781538693803
In view of tracking-control problems of dynamics-included robotsystems, the Zhang neural-dynamics (or termed, zeroing neural-dynamics, ZND) proposed by Zhang et al is introduced and investigated. In this paper, simulation verification of ZND control for one-link dynamics-included robotsystem, which plays a fundamental role in the development of robotsystems, is conducted firstly to illustrate the efficacy of ZND control for dynamics-included robotsystems. Besides, for further corroborating the efficacy of ZND in tracking control, a multiple-link dynamics-included robotsystem is considered, and corresponding simulation results verify well the efficacy of ZND control.
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