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Zhang Wenhui
Lishui University
Computer Science & IT

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 1 
Back-stepping Control of Free-Floating Space Robot based on Adaptive Neural Network Wang Cao; Lin Senhai; Ye Xiaoping; Jiang Jie; Zhang Wenhui
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 15, No 1: March 2017
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v15i1.4588

Abstract

Trajectory tracking control problems of the free-floating space robot are considered by the paper, back-stepping control method based on adaptive neural network is put forward. The complex system is decomposed into several simple sub-systems. The control laws are designed by derived, so that closed-loop stability can be obtained by each subsystem; Because of the influence of interference and the measurement level limitation, accurate mathematical model is difficult to be obtained. Neural network controller of good nonlinear approximation ability is designed to compensate the uncertainty of system model. Adaptive learning laws are designed to ensure that weights can be adjusted online real-time. The system uniformly ultimately bounded (UUB) is proved based on the Lyapunov theory. Simulation experiments show that the control method can fast track the desired trajectory, and has a good application value for space robotic manipulators with uncertainty.
Adaptive Control of Space Robot Manipulators with Task Space Base on Neural Network Zhou Shuhua; Ye Xiaoping; Ji Xiaoming; Zhang Wenhui
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 12, No 2: June 2014
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v12i2.72

Abstract

As are considered, the body posture is controlled and position cannot control, space manipulator system model is difficult to be set up because of disturbance and model uncertainty. An adaptive control strategy based on neural network is put forward. Neural network on-line modeling technology is used to approximate the system uncertain model, and the strategy avoids solving the inverse Jacobi matrix, neural network approximation error and external bounded disturbance are eliminated by variable structure control controller. Inverse dynamic model of the control strategy does not need to be estimated, also do not need to take the training process, globally asymptotically stable of the closed-loop system is proved based on the lyapunov theory. The simulation results show that the designed controller can achieve high control precision has the important value of engineering application.
Adaptive Neural Network Robust Control for Space Robot with Uncertainty Zhang Wenhui; Fang Yamin; Ye Xiaoping Ye Xiaoping
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 11, No 3: September 2013
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v11i3.1130

Abstract

The trajectory tracking problems of a class of space robot manipulators with parameters and non-parameters uncertainty are considered. An adaptive robust control algorithm based on neural network is proposed by the paper. Neutral network is used to adaptive learn and compensate the unknown system for parameters uncertainties, the weight adaptive laws are designed by the paper, System stability base on Lyapunov theory is analysised to ensure the convergence of the algorithm. Non-parameters uncertainties are estimated and compensated by robust controller. It is proven that the designed controller can guarantee the asymptotic convergence of tracking error. The controller could guarantee good robust and the stability of closed-loop system. The simulation results show that the presented method is effective.
Self-learning PID Control for X-Y NC Position Table with Uncertainty Base on Neural Network Hu Xiaoping; Wang Chao; Zhang Wenhui; Ma Jing
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 12, No 2: June 2014
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v12i2.73

Abstract

An adaptive radical basis function (RBF) neural network PID control scheme for X-Y position table is proposed by the paper. Firstly, X-Y position table model is established, controller based on neutral network is used to learn adaptive and compensate uncertainty model of X-Y position table, neutral network is used to study model. PID neural network controller base on augmented variable method is designed. PID controller is used as assistant direction error controller, neural network parameters base on stochastic gradient algorithm can be adjust adaptive on line. The simulation results show that the presented controller has important engineering value.
Adaptive Neural Network Robust Control for Space Robot with Uncertainty Zhang Wenhui; Fang Yamin; Ye Xiaoping Ye Xiaoping
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 11, No 3: September 2013
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v11i3.985

Abstract

The trajectory tracking problems of a class of space robot manipulators with parameters and non-parameters uncertainty are considered. An adaptive robust control algorithm based on neural network is proposed by the paper. Neutral network is used to adaptive learn and compensate the unknown system for parameters uncertainties, the weight adaptive laws are designed by the paper, System stability base on Lyapunov theory is analysised to ensure the convergence of the algorithm. Non-parameters uncertainties are estimated and compensated by robust controller. It is proven that the designed controller can guarantee the asymptotic convergence of tracking error. The controller could guarantee good robust and the stability of closed-loop system. The simulation results show that the presented method is effective.
Adaptive Control for Robotic Manipulators base on RBF Neural Network Ma Jing Ma Jing; Zhang Wenhui; Zhu Haiping
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 11, No 3: September 2013
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v11i3.1131

Abstract

An adaptive neural network controller is brought forward by the paper to solve trajectory tracking problems of robotic manipulators with uncertainties.  The  first  scheme consists of  a PD feedback  and  a  dynamic  compensator  which is  composed by  neural  network controller and  variable  structure controller.  Neutral network controller is designed to adaptive learn and compensate the unknown uncertainties, variable   structure controller is designed to eliminate approach errors of neutral network. The adaptive weight learning algorithm of neural network is designed to ensure online real-time adjustment, offline learning phase is not need; Global asymptotic stability (GAS) of system base on Lyapunov theory is analysised to ensure the convergence of the algorithm. The simulation results show that the kind of the control scheme is effective and has good robustness.
Adaptive Control for Robotic Manipulators base on RBF Neural Network Ma Jing Ma Jing; Zhang Wenhui; Zhu Haiping
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 11, No 3: September 2013
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v11i3.986

Abstract

An adaptive neural network controller is brought forward by the paper to solve trajectory tracking problems of robotic manipulators with uncertainties.  The  first  scheme consists of  a PD feedback  and  a  dynamic  compensator  which is  composed by  neural  network controller and  variable  structure controller.  Neutral network controller is designed to adaptive learn and compensate the unknown uncertainties, variable   structure controller is designed to eliminate approach errors of neutral network. The adaptive weight learning algorithm of neural network is designed to ensure online real-time adjustment, offline learning phase is not need; Global asymptotic stability (GAS) of system base on Lyapunov theory is analysised to ensure the convergence of the algorithm. The simulation results show that the kind of the control scheme is effective and has good robustness.
Co-Authors Fang Yamin Hu Xiaoping Ji Xiaoming Jiang Jie Lin Senhai Ma Jing Ma Jing Ma Jing Wang Cao Wang Chao Ye Xiaoping Ye Xiaoping Ye Xiaoping Zhou Shuhua Zhu Haiping