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New Super-Twisting Zeroing Neural-Dynamics Model for Tracking Control of Parallel Robots: A Finite-Time and Robust Solution

Dechao Chen, Shuai Li Orcid Logo, Faa-Jeng Lin, Qing Wu

IEEE Transactions on Cybernetics, Pages: 1 - 10

Swansea University Author: Shuai Li Orcid Logo

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DOI (Published version): 10.1109/TCYB.2019.2930662

Abstract

Parallel robots are usually required to perform real-time tracking control tasks in the presence of external disturbances in the complex environment. Conventional zeroing neural-dynamics (ZNDs) provide an alternative solution for the real-time tracking control of parallel robots due to its capacity...

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Published in: IEEE Transactions on Cybernetics
ISSN: 2168-2267 2168-2275
Published: 2020
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URI: https://cronfa.swan.ac.uk/Record/cronfa52001
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first_indexed 2019-09-23T14:18:30Z
last_indexed 2020-05-28T13:05:30Z
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spelling 2020-05-28T10:28:16.9823679 v2 52001 2019-09-23 New Super-Twisting Zeroing Neural-Dynamics Model for Tracking Control of Parallel Robots: A Finite-Time and Robust Solution 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2019-09-23 MECH Parallel robots are usually required to perform real-time tracking control tasks in the presence of external disturbances in the complex environment. Conventional zeroing neural-dynamics (ZNDs) provide an alternative solution for the real-time tracking control of parallel robots due to its capacity of parallel processing and nonlinearity handling. However, it is still a challenge for the solution in a unified framework of the ZND to deal with the external disturbances, and simultaneously possess a finite-time convergence property. In this paper, a novel ZND model by exploring the super-twisting (ST) algorithm, named ST-ZND model, is proposed. The theoretical analyses on the global stability, finite-time convergence, as well as the robustness against the external disturbances are rigorously presented. Finally, the effectiveness and superiority of the ST-ZND model for the real-time tracking control of parallel robots are demonstrated by two illustrative examples, comparisons, and convergence tests. Journal Article IEEE Transactions on Cybernetics 1 10 2168-2267 2168-2275 1 6 2020 2020-06-01 10.1109/TCYB.2019.2930662 COLLEGE NANME Mechanical Engineering COLLEGE CODE MECH Swansea University 2020-05-28T10:28:16.9823679 2019-09-23T11:45:04.1309687 Dechao Chen 1 Shuai Li 0000-0001-8316-5289 2 Faa-Jeng Lin 3 Qing Wu 4
title New Super-Twisting Zeroing Neural-Dynamics Model for Tracking Control of Parallel Robots: A Finite-Time and Robust Solution
spellingShingle New Super-Twisting Zeroing Neural-Dynamics Model for Tracking Control of Parallel Robots: A Finite-Time and Robust Solution
Shuai Li
title_short New Super-Twisting Zeroing Neural-Dynamics Model for Tracking Control of Parallel Robots: A Finite-Time and Robust Solution
title_full New Super-Twisting Zeroing Neural-Dynamics Model for Tracking Control of Parallel Robots: A Finite-Time and Robust Solution
title_fullStr New Super-Twisting Zeroing Neural-Dynamics Model for Tracking Control of Parallel Robots: A Finite-Time and Robust Solution
title_full_unstemmed New Super-Twisting Zeroing Neural-Dynamics Model for Tracking Control of Parallel Robots: A Finite-Time and Robust Solution
title_sort New Super-Twisting Zeroing Neural-Dynamics Model for Tracking Control of Parallel Robots: A Finite-Time and Robust Solution
author_id_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Shuai Li
author2 Dechao Chen
Shuai Li
Faa-Jeng Lin
Qing Wu
format Journal article
container_title IEEE Transactions on Cybernetics
container_start_page 1
publishDate 2020
institution Swansea University
issn 2168-2267
2168-2275
doi_str_mv 10.1109/TCYB.2019.2930662
document_store_str 0
active_str 0
description Parallel robots are usually required to perform real-time tracking control tasks in the presence of external disturbances in the complex environment. Conventional zeroing neural-dynamics (ZNDs) provide an alternative solution for the real-time tracking control of parallel robots due to its capacity of parallel processing and nonlinearity handling. However, it is still a challenge for the solution in a unified framework of the ZND to deal with the external disturbances, and simultaneously possess a finite-time convergence property. In this paper, a novel ZND model by exploring the super-twisting (ST) algorithm, named ST-ZND model, is proposed. The theoretical analyses on the global stability, finite-time convergence, as well as the robustness against the external disturbances are rigorously presented. Finally, the effectiveness and superiority of the ST-ZND model for the real-time tracking control of parallel robots are demonstrated by two illustrative examples, comparisons, and convergence tests.
published_date 2020-06-01T04:04:07Z
_version_ 1763753325971374080
score 11.012678

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