Neural Adaptive Control for Robotic Systems With Saturation and Disturbance

• Published in: 2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) pp. 242 - 247
• Main Authors: Ding, Shuai, Peng, Jinzhu, Liu, Yan, Wu, Yage
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.07.2023
• Subjects: adaptive control; Artificial neural networks; Automation; Error compensation; extended state observer; input saturation; Manipulators; neural network; Observers; robotic systems; Stability analysis; Torque

This paper proposes a neural adaptive control (NAC) strategy for the robotic systems with saturation and disturbance. The strategy involves using a neural network (NN) to estimate the robot's dynamic model and constructing a compensator to mitigate the impact of input saturation. To obtain esti...