Simulation Verifications Of Znd Control For Dynamics-Included Robot Systems Extended From One Link To Multiple Links

Mengling Xiao,Binbin Qiu,Deyang Zhang,Mingzhi Mao,Yunong Zhang

2018 IEEE SMARTWORLD, UBIQUITOUS INTELLIGENCE & COMPUTING, ADVANCED & TRUSTED COMPUTING, SCALABLE COMPUTING & COMMUNICATIONS, CLOUD & BIG DATA COMPUTING, INTERNET OF PEOPLE AND SMART CITY INNOVATION (SMARTWORLD/SCALCOM/UIC/ATC/CBDCOM/IOP/SCI)（2018）

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摘要

In view of tracking-control problems of dynamics-included robot systems, the Zhang neural-dynamics (or termed, zeroing neural-dynamics, ZND) proposed by Zhang et al is introduced and investigated. In this paper, simulation verification of ZND control for one-link dynamics-included robot system, which plays a fundamental role in the development of robot systems, is conducted firstly to illustrate the efficacy of ZND control for dynamics-included robot systems. Besides, for further corroborating the efficacy of ZND in tracking control, a multiple-link dynamics-included robot system is considered, and corresponding simulation results verify well the efficacy of ZND control.

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关键词

Zhang neural-dynamics (ZND), One-link robot system, Multiple-link robot system, Simulation verification

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