Neurodynamic Methods for Continuum Robot Control

Ning Tan is an Associate Professor at Sun Yat-sen University, China. He is a Senior Member of IEEE. His research interests include continuum robotics, bioinspired design, and intelligent control. Peng Yu is a PhD Candidate at Sun Yat-sen University, China. He is a graduate student member of IEEE. Yunong Zhang is a Professor at Sun Yat-sen University, China. He is a Senior Member of IEEE, and his research interests lie in automation, robotics, neurodynamics, computation, and optimization.

• Foreword xiAbout the Authors xiiiPreface xvAcknowledgments xxiAcronyms xxiiPart I Introduction 11 Introduction to Continuum Robots and Theoretical Foundations 31.1 Introduction 31.2 Modeling Continuum Robots Using PCC 41.3 Neurodynamic Models 61.4 Chapter Summary 7Part II Model-based Neurodynamic Methods 92 Analytical-Jacobian-based Neurodynamic Control Methods 112.1 Introduction 112.2 Model-based Kinematic Control 122.3 Simulative Verification 212.4 Chapter Summary 26Part III Model-free Neurodynamic Methods 273 Continuous-time Hybrid Neurodynamic Control Methods 293.1 Introduction 293.2 Model-free Kinematic Control 313.3 Simulative Verification 343.4 Chapter Summary 414 Discrete-time Neurodynamic Control Methods 434.1 Introduction 434.2 Method 444.3 Verification 484.4 Chapter Summary 54Part IV Model- and Inverse-free Zeroing Neurodynamics Methods 575 Quad Neurodynamic Control Methods 595.1 Introduction 595.2 Preliminary 625.3 Velocity-level Quad Neurodynamics 635.4 Acceleration-level Quad Neurodynamics 675.5 Verification of DQND4 735.6 Verification of ADQN 755.7 Chapter Summary 80Part V Variants of Zeroing Neurodynamics Methods 816 Nonlinearly Activated Zeroing Neurodynamic Control Methods 836.1 Introduction 836.2 Variants of ZND Models 846.3 Method 896.4 Verification 916.5 Chapter Summary 997 Varying-parameter Zeroing Neurodynamic Control Methods 1017.1 Introduction 1017.2 Preliminary 1037.3 Varying-parameter ZND Methods 1047.4 Recursive Least Square-aided Varying-parameter ZND Method 1077.5 Verification of VP-ZND-1 and VP-ZND-2 1117.6 Verification of ADVPEZND 1147.7 Chapter Summary 1178 Prescribed-performance Convergent Zeroing Neurodynamic Control Methods 1198.1 Introduction 1198.2 Predefined-time Convergent Method 1218.3 PTS Method 1268.4 Prescribed-performance Control Method 1348.5 Verification of PTC-ZND 1438.6 Verification of PTS-ZND 1488.7 Verification of BPAC 1498.8 Chapter Summary 161Part VI Enhancing Zeroing Neurodynamics Methods with Intelligent Algorithms 1639 Fuzzy-enhanced Zeroing Neurodynamic Control Method 1659.1 Introduction 1659.2 Method 1679.3 Verification 1709.4 Chapter Summary 17410 Spiking Neural Network-enhanced Zeroing Neurodynamic Control Method 17510.1 Introduction 17510.2 Preliminary 17610.3 LSM-based Control Scheme 17910.4 Verification 18510.5 Chapter Summary 186Part VII Neurodynamics-based Model-free Teleoperation Method 18711 Neurodynamics-based Teleoperation 18911.1 Introduction 18911.2 Preliminary 19011.3 Method 19111.4 Verification 19611.5 Chapter Summary 198References 199Index 215