{"title":"Adaptive Neural Control With Guaranteed Performance for Mechanical Systems Under Uncertain Initial Conditions: A Time-Varying Neuron Approach","authors":"Di Yang;Weijun Liu;Zhiwu Li","doi":"10.1109/TSMC.2024.3418950","DOIUrl":null,"url":null,"abstract":"This article proposes a new adaptive neural control scheme with guaranteed performance for mechanical systems under dynamic uncertainties and uncertain initial conditions. Employing the novel time-varying neuron (TVN) approach and a shifting function, the control method developed in this article can systematically solve two crucial problems: one is how to construct a variable structure network to improve the approximation ability while the online tuning parameters do not increase with the number of neurons, and the other is how to achieve the predetermined tracking performance for multi-input multi-output (MIMO) mechanical systems under any bounded initial tracking errors. To approximate uncertain dynamics, the TVN approach is first presented to instruct the process of adding new neurons for better-learning capability, where the online updating parameters in the neural network (NN) unit are compressed by the vector projection technique, yielding an NN approximator with low-computational burden. By virtue of a shifting function, the uncertain initial tracking error is converted to zero such that a speed function with predetermined convergence performance can be efficiently employed to constrain the tracking trajectory without considering the initial condition. Moreover, to obviate the differentiation operation for the virtual stabilizing function, the dynamic surface technique is adopted to derive the presented control scheme for facilitating practical implementation. Finally, the effectiveness and benefits of the presented control are verified via theoretical analysis and a two-link manipulator.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":null,"pages":null},"PeriodicalIF":8.6000,"publicationDate":"2024-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Systems Man Cybernetics-Systems","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10601710/","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This article proposes a new adaptive neural control scheme with guaranteed performance for mechanical systems under dynamic uncertainties and uncertain initial conditions. Employing the novel time-varying neuron (TVN) approach and a shifting function, the control method developed in this article can systematically solve two crucial problems: one is how to construct a variable structure network to improve the approximation ability while the online tuning parameters do not increase with the number of neurons, and the other is how to achieve the predetermined tracking performance for multi-input multi-output (MIMO) mechanical systems under any bounded initial tracking errors. To approximate uncertain dynamics, the TVN approach is first presented to instruct the process of adding new neurons for better-learning capability, where the online updating parameters in the neural network (NN) unit are compressed by the vector projection technique, yielding an NN approximator with low-computational burden. By virtue of a shifting function, the uncertain initial tracking error is converted to zero such that a speed function with predetermined convergence performance can be efficiently employed to constrain the tracking trajectory without considering the initial condition. Moreover, to obviate the differentiation operation for the virtual stabilizing function, the dynamic surface technique is adopted to derive the presented control scheme for facilitating practical implementation. Finally, the effectiveness and benefits of the presented control are verified via theoretical analysis and a two-link manipulator.
本文针对动态不确定性和不确定初始条件下的机械系统,提出了一种性能有保证的新型自适应神经控制方案。通过采用新颖的时变神经元(TVN)方法和移位函数,本文提出的控制方法可以系统地解决两个关键问题:一是如何构建可变结构网络以提高逼近能力,同时在线调谐参数不随神经元数量的增加而增加;二是如何在任何有界初始跟踪误差条件下实现多输入多输出(MIMO)机械系统的预定跟踪性能。为了逼近不确定的动力学,首先提出了 TVN 方法来指导新神经元的添加过程,以获得更好的学习能力,其中神经网络(NN)单元中的在线更新参数通过向量投影技术进行了压缩,从而产生了一种低计算负担的 NN 近似器。通过移位函数,不确定的初始跟踪误差被转换为零,从而可以有效地使用具有预定收敛性能的速度函数来约束跟踪轨迹,而无需考虑初始条件。此外,为了避免对虚拟稳定函数进行微分运算,采用了动态曲面技术来推导所提出的控制方案,以方便实际应用。最后,通过理论分析和双链操纵器验证了所提出的控制方案的有效性和优势。
期刊介绍:
The IEEE Transactions on Systems, Man, and Cybernetics: Systems encompasses the fields of systems engineering, covering issue formulation, analysis, and modeling throughout the systems engineering lifecycle phases. It addresses decision-making, issue interpretation, systems management, processes, and various methods such as optimization, modeling, and simulation in the development and deployment of large systems.