UM
Adaptive neural network-based visual servoing control for manipulator with unknown output nonlinearities
Wang, Fujie; Liu, Zhi; Chen, C. L. P.; Zhang, Yun
2018-07
Source PublicationINFORMATION SCIENCES
ISSN0020-0255
Volume451Pages:16-33
AbstractIn this paper, the problem of neural network control for visual servoing robotic system is addressed, where the unmodeled dynamics and output nonlinearity are taken into account simultaneously. An adaptive neural network module is constructed to approach the unknown dynamics, upon which, the robot dynamics are not required to be linearly decomposable and structurally known. The major superiority of this module lies in its conciseness and the computational-reduction operation. Moreover, the output nonlinearity is considered, and its undesirable effect is subsequently tackled without a prior knowledge of the model parameters in output mechanism. It is proven by the Lyapunov method that the image-space tracking error is driven to an adjustable neighborhood of origin. Numerical simulations and experiments under various situations are used to validate the performance of the proposed adaptive neural network based scheme. (C) 2018 Elsevier Inc. All rights reserved.
KeywordNeural network-based control Adaptive control Unknown output nonlinearities Robotic manipulator Unknown dynamics
DOI10.1016/j.ins.2018.03.057
URLView the original
Indexed BySCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Information Systems
WOS IDWOS:000432507900002
PublisherELSEVIER SCIENCE INC
The Source to ArticleWOS
Fulltext Access
Citation statistics
Cited Times [WOS]:15   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Wang, Fujie,Liu, Zhi,Chen, C. L. P.,et al. Adaptive neural network-based visual servoing control for manipulator with unknown output nonlinearities[J]. INFORMATION SCIENCES,2018,451:16-33.
APA Wang, Fujie,Liu, Zhi,Chen, C. L. P.,&Zhang, Yun.(2018).Adaptive neural network-based visual servoing control for manipulator with unknown output nonlinearities.INFORMATION SCIENCES,451,16-33.
MLA Wang, Fujie,et al."Adaptive neural network-based visual servoing control for manipulator with unknown output nonlinearities".INFORMATION SCIENCES 451(2018):16-33.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Wang, Fujie]'s Articles
[Liu, Zhi]'s Articles
[Chen, C. L. P.]'s Articles
Baidu academic
Similar articles in Baidu academic
[Wang, Fujie]'s Articles
[Liu, Zhi]'s Articles
[Chen, C. L. P.]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Wang, Fujie]'s Articles
[Liu, Zhi]'s Articles
[Chen, C. L. P.]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.