文献类型：会议论文

英文题名：New integration-enhanced Newton algorithm for real-time tracking control of robot manipulators

作者：Wei, Lin[1]; Jin, Long[1]; Zhang, Rui[2]; Xiao, Xiuchun[3]; Liu, Mei[1]; Yan, Jingwen[4]; Zhang, Jiliang[1]

机构：[1] School of Information Science and Engineering, Lanzhou University, Lanzhou, 730000, China; [2] National Key Laboratory of Electromagnetic Environment, China Research Institute of Radiowave Propagation, Qingdao, 266107, China; [3] College of Electronic and Information Engineering, Guangdong Ocean University, Zhanjiang, 524000, China; [4] University of Shantou, Department of Electronic Engineering, Shantou, 515000, China

会议论文集：Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019

会议日期：May 24, 2019 - May 27, 2019

会议地点：Dali, China

语种：英文

外文关键词：Robot applications - Navigation - Modular robots - Flexible manipulators - Industrial robots - Integration

外文摘要：It is of great significance to enhancing and maintaining accurate real-time output for tracking control which has been diffusely confronted in robotics. Note that, for most traditional algorithms, utilizing a neural controller for convergence and a filter for dealing with noises is a habitual method. However, there always exists interplay of the neural controller and filter that prevents these existing traditional algorithms from keeping stable when encountering tracking control problem, which results in large lagging errors. To this end, a novel integration-enhanced Newton (IN) algorithm aided with the superior integration control is proposed and inherently robust to a variety of noises, which is proved thoroughly by corresponding theoretical analyses and further employed to realize tracking control of robot manipulators successfully. ? 2019 IEEE.