Adaptive Neural Network Control of Robotic Manipulators 在线电子书 pdf 下载 txt下载 epub 下载 mobi 下载 2024

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Ge, S. S./ Lee, Tong Heng/ Harris, Christopher J. 作者

World Scientific Pub Co Inc

译者

1999-1 出版日期

396 页数

$ 85.88 价格

HRD

丛书系列

9789810234522 图书编码

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Adaptive Neural Network Control of Robotic Manipulators 在线电子书 epub 下载 mobi 下载 pdf 下载 txt 下载 2024

Adaptive Neural Network Control of Robotic Manipulators 在线电子书 pdf 下载 txt下载 epub 下载 mobi 下载 2024

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使用神经网络NN带来常数项的误差，用滑膜，sgn函数来弥补，随即引入rise控制器。然而神经网络➕RISE控制器来控制manipulator时必须要求disturbance足够smooth……对激活函数进行一阶泰勒展开，对自动适应的两个矩阵使用投影来upper bound。用NN来拟合desired trajectory的dynamic获得global值，但同时RISE也会带来semi global和一个通过中值定理来ub的项……这样一来，精度就无法完全保证了啊……书里啥也没说……我无语……

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Adaptive Neural Network Control of Robotic Manipulators 在线电子书著者简介

Adaptive Neural Network Control of Robotic Manipulators 在线电子书图书目录

Adaptive Neural Network Control of Robotic Manipulators 在线电子书 pdf 下载 txt下载 epub 下载 mobi 在线电子书下载

Adaptive Neural Network Control of Robotic Manipulators 在线电子书图书描述

There has been considerable research interest in neural network control of robots, and satisfactory results have been obtained in solving some of the special issues associated with the problems of robot control in an "on-and-off" fasion. This text is dedicated to issues on adaptive control of robots based on neural networks. The text has been tailored to give a comprehensive study of robot dynamics, present structured network models for robots, and provide systematic approaches for neural network based adaptive controller design for rigid robots, flexible joint robots, and robots in constraint motion. Rigorous proof of the stability properties of adaptive neural network controllers is provided. Simulation examples are also presented to verify the effectiveness of the controllers, and practical implementation issues associated with the controllers are also discussed.

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