An adaptive neural network switching control approach of robotic manipulators for trajectory tracking

Abstract

In this paper, an adaptive neural network (NN) switching control strategy is proposed for the trajectory tracking problem of robotic manipulators. The proposed system comprises an adaptive switching neural controller and the associated robust compensation control law. Based on the Lyapunov stability theorem and average dwell-time approach, it is shown that the proposed control scheme can guarantee tracking performance of the robotic manipulators system, in the sense that all variables of the closed-loop system are bounded and the effect due to the external disturbance and approximate error of radical basis function (RBF) NNs on the tracking error can be converged to zero in an infinite time. Finally, simulation results on a two-link robotic manipulator show the feasibility and validity of the proposed control scheme.

Keywords:

• switching control strategy
• RBF neural networks
• average dwell-time approach
• multiple lyapunov function
• robotic manipulators

2000 AMS Subject classifications::

• 03C65
• 20G40
• 13P25
• 11D04
• 34D20