Trajectory Tracking Error Using Fractional Order PID Control Law for Two‐Link Robot Manipulator via Fractional Adaptive Neural Networks
( Robotics - Legal, Ethical and Socioeconomic Impacts )
Publication series ： Robotics - Legal, Ethical and Socioeconomic Impacts
Author： Joel Perez P. Jose Paz Perez P. and Martha S. Lopez de la Fuente
Publisher： IntechOpen
Publication year： 2017
E-ISBN: INT6661270020
P-ISBN(Paperback): 9789535136354
P-ISBN(Hardback): 9789535136361
Subject： TP24 robotic technology
Keyword： 机器人技术
Language： ENG
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Trajectory Tracking Error Using Fractional Order PID Control Law for Two‐Link Robot Manipulator via Fractional Adaptive Neural Networks
Description
The problem of trajectory tracking of unknown nonlinear systems of fractional order is solved using fractional order dynamical neural networks. For this purpose, we obtained control laws and laws of adaptive weights online, obtained using the Lyapunov stability analysis methodology of fractional order. Numerical simulations illustrate the obtained theoretical results.
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