Adaptive Neural Command Filtered Tracking Control for Flexible Robotic Manipulator With Input Dead-Zone

Abstract

In this paper, an adaptive neural network (NN) command filtered tracking control method is developed for a flexible robotic manipulator with dead-zone input. To deal with the input dead-zone nonlinearity, it is viewed as a combination of a linear part and bounded disturbance-like term. The Neural networks (NNs) are used to estimate the uncertain nonlinearities appeared in the control system. By using the command filter technique, the problem of `explosion of complexity' is overcome. The proposed controller guarantees that all the closed-loop signals are bounded and the system output can track the given reference signal. The simulation results are provided to demonstrate the effectiveness of the proposed controller.

Keywords

• Adaptive neural network control
• robotic manipulator
• dead-zone
• command-filter technique
• backstepping