Adaptive Neural-Network Boundary Control for a Flexible Manipulator With Input Constraints and Model Uncertainties

• Published in: IEEE transactions on cybernetics Vol. 51; no. 10; pp. 4796 - 4807
• Main Authors: Ren, Yong, Zhao, Zhijia, Zhang, Chunliang, Yang, Qinmin, Hong, Keum-Shik
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.10.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Adaptive control; Adaptive neural network (NN) boundary control (BC); Artificial neural networks; Boundary control; Constraint modelling; Control theory; Cybernetics; flexible manipulator; Flexible manipulators; input constraints; Magnetic resonance imaging; Manipulators; model uncertainties; Neural networks; Radial basis function; Robot arms; Subsystems; Tracking errors; Uncertainty; Vibrations

This article develops an adaptive neural-network (NN) boundary control scheme for a flexible manipulator subject to input constraints, model uncertainties, and external disturbances. First, a radial basis function NN method is utilized to tackle the unknown input saturations, dead zones, and model u...