August 2024
Intermediate to advanced
355 pages
11h 19m
English
Content preview from Zhang Time Discretization (ZTD) Formulas and Applications
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Chapter 9Tracking Control of Serial and Parallel Manipulators
Abstract
It is increasingly desirable to improve the performance of tracking control. It is a routine for most conventional algorithms to track the current desired output by the control input at current time instant. However, lagging errors resulting from computing time and the fluctuation of the desired output exist in the tracking control. In this chapter, different from conventional algorithms, a look-ahead scheme of zeroing neural network (ZNN) is established to achieve the real-time tracking control of both serial and parallel manipulators. With the exploitation of current and previous data, the control inputs generated by discrete-time ZNN (DTZNN) ...
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