Neurodynamic Methods for Continuum Robot Control

Foreword xi
About the Authors xiii
Preface xv
Acknowledgments xxi
Acronyms xxii

Part I Introduction 1

1 Introduction to Continuum Robots and Theoretical Foundations 3
1.1 Introduction 3
1.2 Modeling Continuum Robots Using PCC 4
1.3 Neurodynamic Models 6
1.4 Chapter Summary 7

Part II Model-based Neurodynamic Methods 9

2 Analytical-Jacobian-based Neurodynamic Control Methods 11
2.1 Introduction 11
2.2 Model-based Kinematic Control 12
2.3 Simulative Verification 21
2.4 Chapter Summary 26

Part III Model-free Neurodynamic Methods 27

3 Continuous-time Hybrid Neurodynamic Control Methods 29
3.1 Introduction 29
3.2 Model-free Kinematic Control 31
3.3 Simulative Verification 34
3.4 Chapter Summary 41

4 Discrete-time Neurodynamic Control Methods 43
4.1 Introduction 43
4.2 Method 44
4.3 Verification 48
4.4 Chapter Summary 54

Part IV Model- and Inverse-free Zeroing Neurodynamics Methods 57

5 Quad Neurodynamic Control Methods 59
5.1 Introduction 59
5.2 Preliminary 62
5.3 Velocity-level Quad Neurodynamics 63
5.4 Acceleration-level Quad Neurodynamics 67
5.5 Verification of DQND4 73
5.6 Verification of ADQN 75
5.7 Chapter Summary 80

Part V Variants of Zeroing Neurodynamics Methods 81

6 Nonlinearly Activated Zeroing Neurodynamic Control Methods 83
6.1 Introduction 83
6.2 Variants of ZND Models 84
6.3 Method 89
6.4 Verification 91
6.5 Chapter Summary 99

7 Varying-parameter Zeroing Neurodynamic Control Methods 101
7.1 Introduction 101
7.2 Preliminary 103
7.3 Varying-parameter ZND Methods 104
7.4 Recursive Least Square-aided Varying-parameter ZND Method 107
7.5 Verification of VP-ZND-1 and VP-ZND-2 111
7.6 Verification of ADVPEZND 114
7.7 Chapter Summary 117

8 Prescribed-performance Convergent Zeroing Neurodynamic Control Methods 119
8.1 Introduction 119
8.2 Predefined-time Convergent Method 121
8.3 PTS Method 126
8.4 Prescribed-performance Control Method 134
8.5 Verification of PTC-ZND 143
8.6 Verification of PTS-ZND 148
8.7 Verification of BPAC 149
8.8 Chapter Summary 161

Part VI Enhancing Zeroing Neurodynamics Methods with Intelligent Algorithms 163

9 Fuzzy-enhanced Zeroing Neurodynamic Control Method 165
9.1 Introduction 165
9.2 Method 167
9.3 Verification 170
9.4 Chapter Summary 174

10 Spiking Neural Network-enhanced Zeroing Neurodynamic Control Method 175
10.1 Introduction 175
10.2 Preliminary 176
10.3 LSM-based Control Scheme 179
10.4 Verification 185
10.5 Chapter Summary 186

Part VII Neurodynamics-based Model-free Teleoperation Method 187

11 Neurodynamics-based Teleoperation 189
11.1 Introduction 189
11.2 Preliminary 190
11.3 Method 191
11.4 Verification 196
11.5 Chapter Summary 198

References 199
Index 215