Trajectory tracking control of manipulator with variable length error via iterative learning and neural network scheme

Rongjia Tang; Yongchun Liu

doi:10.1117/12.2681662

23 May 2023 Trajectory tracking control of manipulator with variable length error via iterative learning and neural network scheme

Rongjia Tang, Yongchun Liu

Author Affiliations +

Proceedings Volume 12645, International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023); 126452L (2023) https://doi.org/10.1117/12.2681662
Event: International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023), 2023, Hangzhou, China

Abstract

In this paper, trajectory tracking of uncertain manipulator under arbitrary initial conditions is investigated. Firstly, the error dynamics is established according to the preset expected trajectory, the probability distribution function of random variables and the virtual error variable. Secondly, the virtual control signal and iterative learning are used to compensate the interval without operation and the iteration length with random changes. Then, the uncertainty and external disturbance of the manipulator arms are approximated by an adaptive neural network, and the practicability of the tracking algorithm is inspected by a composite energy function. Finally, the simulation example is certified to display the validity of the proposed algorithm.

Citation Download Citation

Rongjia Tang and Yongchun Liu "Trajectory tracking control of manipulator with variable length error via iterative learning and neural network scheme", Proc. SPIE 12645, International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023), 126452L (23 May 2023); https://doi.org/10.1117/12.2681662

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available