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FIRA 2010: Trends in Intelligent Robotics pp 338–345Cite as

Neural Network Control of Nonlinear Time-Delay System with Unknown Dead-Zone and Its Application to a Robotic Servo System

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Part of the book series: Communications in Computer and Information Science ((CCIS,volume 103))

Abstract

An adaptive controller is proposed for a class of nonlinear systems with unknown time-varying delays and a dead-zone input. Taking the dead-zone as a part of the system dynamics, the construction of the dead-zone inverse model is not needed and thus the characteristic parameters of the dead-zone are not necessarily known. Unknown time delays are handled by introducing improved Lyapunov-Krasovskii functions, where the requirements on the delayed functions/control coefficients are further relaxed without the singularity problem. A novel high-order neural network with only a scalar weight parameter is developed to approximate unknown nonlinearities. The closed-loop system is proved to be semi-globally uniformly ultimately bounded (SGUUB). Experiments on a robotic servo system are provided to verify the reliability of the presented method.

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Author information

Authors and Affiliations

  1. School of Automation, Beijing Institute of Technology, Beijing, 100081, P.R. China

    Jing Na & Xuemei Ren

  2. Department of Mechanical Engineering, University of Bristol, Bristol, BS8 1TR, UK

    Guido Herrmann

Authors
  1. Jing Na
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  2. Guido Herrmann
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  3. Xuemei Ren
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Editor information

Editors and Affiliations

  1. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Tan Kok Kiong  & 

  2. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea

    Jong-Hwan Kim

  3. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  4. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, 117576, Singapore

    Abdullah Al Mamun

  5. Department of Computer Science, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes  & John Anderson  & 

  6. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

  7. Trinity College, Hartford, CT, USA

    David Ahlgren

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© 2010 Springer-Verlag Berlin Heidelberg

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Cite this paper

Na, J., Herrmann, G., Ren, X. (2010). Neural Network Control of Nonlinear Time-Delay System with Unknown Dead-Zone and Its Application to a Robotic Servo System. In: Vadakkepat, P., et al. Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15810-0_43

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  • DOI: https://doi.org/10.1007/978-3-642-15810-0_43

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-15809-4

  • Online ISBN: 978-3-642-15810-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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