Adaptive Neural Network Control for Euler-Lagrangian Systems with Uncertainties  

作　　者：CHENG Xin LU Wenke LIU Huashan 程新;卢文科;刘华山(College of Information Science and Technology,Donghua University,Shanghai 201620,China;Engineering Research Center of Digitized Textile and Fashion Technology,Ministry of Education,Shanghai 201620,China)

机构地区：[1]College of Information Science and Technology,Donghua University,Shanghai 201620,China [2]Engineering Research Center of Digitized Textile and Fashion Technology,Ministry of Education,Shanghai 201620,China

出　　处：《Journal of Donghua University(English Edition)》2022年第5期485-489,共5页东华大学学报（英文版）

基　　金：Shanghai Rising-Star Program,China (No.19QA1400400);Natural Science Foundation of Shanghai,China (No.21ZR1401100);Fundamental Research Funds for the Central Universities,China (No.2232019G-09);Graduate Student Innovation Fund of Donghua University,China (No.CUSF-DH-D-2021052)。

摘　　要：An adaptive controller involving a neural network(NN)compensator is proposed to resist the uncertainties in the Euler-Lagrangian system(ELS).Firstly,a proportional-differential(PD)control law is designed for the nominal model.Meanwhile,the uncertainties including model error and external disturbance are separated from the closed-loop system.Then,an adaptive NN compensator based on the online training mode is proposed to eliminate the adverse effect of the uncertainties.In addition,the stability of the closed-loop system is proved by Lyapunov theory.Finally,the effectiveness of the proposed approach is verified on a two-degree-of-freedom robot manipulator.

关 键 词：adaptive control neural network(NN) UNCERTAINTY COMPENSATOR Euler-Lagrangian system(ELS) 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]