期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2019
卷号：16
期号：6
页码：1-11
DOI：10.1177/1729881419894779
出版社：SAGE Publications
摘要：This paper investigates finite-time control of uncertain robotic manipulators with external disturbances by means of neural network control and backstepping technique. To solve the “explosion of terms” in traditional backstepping control, a second-order command filter is designed, and the virtual input and its first-order derivative can be obtained accurately in a finite time. The parameters of the neural network are updated by using the tracking error signals. The proposed controller can guarantee that the tracking error converges to a small region of the origin in some finite time. Finally, we give a simulation study to show the effectiveness of the proposed method.
关键词：Adaptive neural network control ; robotic manipulator ; finite;time stability ; command filtered control
