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RBFNN Based Decentralized Adaptive Tracking Control Using PSO for an Uncertain Electrically Driven Robot System with Input Saturation
RBFNN Based Decentralized Adaptive Tracking Control Using PSO for an Uncertain Electrically Driven Robot System with Input Saturation
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机译：基于RBFNN基于使用PSO的分散式自适应跟踪控制，用于输入饱和度的不确定电动机器人系统
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摘要
An RBFNN-based distributed adaptive tracking system using PSO is introduced for an uncertain electrically driven robotic system with input saturation. To this end, the present invention provides an RBFNN-based distributed adaptive tracking system using PSO for an uncertain electrically driven robot system with 'input saturation that can adjust the number of parameters input to RBFNN at the same time as the control gain using PSO, the 'input An RBFNN-based distributed adaptive tracking system using PSO for an uncertain electrically driven robot system with saturation includes n joints, and each joint is provided with a motor 200 that operates the joint, and each motor 200 An integrated control unit 100 for controlling the operation of the unit is installed, and the integrated control unit 100 considers the voltage and current applied to the motor 200 that operates each joint and the saturation function related to the voltage and current. It is characterized in that the stability of the RBFNN-based distributed adaptive tracking system using PSO for the 'uncertain electrically driven robot system with input saturation is promoted by using the set control formula.
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