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浏览/检索结果: 共3条，第1-3条 帮助 已选(0)清除 条数/页：5101520253035404550556065707580859095100   排序方式：请选择作者升序作者降序题名升序题名降序发表日期升序发表日期降序提交时间升序提交时间降序 Composite Learning Enhanced Neural Control for Robot Manipulator With Output Error Constraints 期刊论文 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2021, 卷号: 17, 期号: 1, 页码: 209-218 作者:  Huang, Dianye;  Yang, Chenguang;  Pan, Yongping;  Cheng, Long 收藏  |  浏览/下载：73/0  |  提交时间：2021/01/06 Manipulator dynamics  Uncertainty  Informatics  Service robots  Lyapunov methods  Barrier Lyapunov function (BLF)  composite learning (CL)  output error constraints  radial basis function neural network  robot manipulators   Backstepping dynamic surface control for a class of non-linear systems with time-varying output constraints 期刊论文 IET CONTROL THEORY AND APPLICATIONS, 2015, 卷号: 9, 页码: 2312-2319 作者:  Qiu, Yanan[1];  Liang, Xiaogeng[2];  Dai, Zhiyong[3];  Cao, Jianxiong[4];  Chen, YangQuan[5] 收藏  |  浏览/下载：7/0  |  提交时间：2019/04/30 control nonlinearities  nonlinear control systems  time-varying systems  Lyapunov methods  closed loop systems  control system synthesis  barrier Lyapunov function  asymmetric barrier Lyapunov function  backstepping dynamic surface control technique  time-varying output constraints  nonlinear systems  differentiation  high-order differentiability  multiple-state high-order systems  backstepping DSC scheme  output tracking error transformation  ABLF synthesis  closed-loop signals  output   Trajectory tracking control for mobile robot based on the fuzzy sliding mode (EI CONFERENCE) 会议论文 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China Xie M.-J.; Li L.-T.; Wang Z.-Q. 收藏  |  浏览/下载：22/0  |  提交时间：2013/03/25 The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints is analyzed. Sliding mode control is presented based on the kinematics models analysis. Switching function of sliding model control is designed according to back-stepping method. Trending law control is selected to improve the system dynamic performance. In order to solve the constant speed problem caused by conventional trending law control  fuzzy control is used to adjust trending speed in the real time. The simulation results demonstrate that the fuzzy sliding mode controller improves the rapidity of trajectory tracking  and reduces the tracking error and the chattering of the control output. 2012 IEEE.