Adaptive robust control based on RBF neural networks for duct cleaning robot

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成果类型：

期刊论文

作者：

Bu Dexu;Wei, Sun*;Yu Hongshan;Cong, Wang;Hui, Zhang

通讯作者：

Wei, Sun

作者机构：

[Wei, Sun; Bu Dexu] Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410082, Hunan, Peoples R China.

[Cong, Wang; Yu Hongshan] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Hunan, Peoples R China.

[Hui, Zhang] Changsha Univ Sci & Technol, Coll Elect & Informat Engn, Changsha 410004, Hunan, Peoples R China.

通讯机构：

[Wei, Sun] H

Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410082, Hunan, Peoples R China.

语种：

英文

关键词：

Cleaning;Closed loop control systems;Ducts;Radial basis function networks;Robots;Robust control;Adaptive robust control;Duct cleaning robots;Lyapunov stability theory;RBF Neural Network;uncertainties;Adaptive control systems

期刊：

International Journal of Control, Automation and Systems

ISSN：

1598-6446

年：

2015

卷：

期：

页码：

475-487

DOI：

10.1007/s12555-012-0447-9

基金类别：

National Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61005068, 61203207]; Hunan Natural Science Fund Project [14JJ1011, 13JJ4058]; Ph. D Programs Foundation of Ministry of Education of ChinaMinistry of Education, China [20130161110009]; Graduate Student Innovation Fund of Hunan [CX2013B163]

机构署名：

本校为其他机构

院系归属：

电气与信息工程学院

摘要：

In this paper, a control strategy for duct cleaning robot in the presence of uncertainties and various disturbances is proposed which combines the advantages of neural network technique and advanced adaptive robust theory. First of all, the configuration of the duct cleaning robot is introduced and the dynamic model is obtained based on the practical duct cleaning robot. Second, the RBF neural network is used to identify the unstructured and dynamic uncertainties due to its strong ability to approximate any nonlinear function to arbitrary accur...

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Adaptive robust control based on RBF neural networks for duct cleaning robot

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