基于神经网络的机械臂自适应输出反馈控制设计

doi:10.3969/j.issn.0255-8297.2013.04.014

Abstract

Abstract: The position tracking control problem for manipulators is addressed, and an adaptive output feedback controller based on neural network is proposed. The controller does not need an exact model, and is applicable to manipulators control systems with nonlinear uncertain dynamics and environmental disturbances.The controller is composed of three parts: output feedback control based on dynamic compensator, a neural network, and an item of robust control. The adaptive learning law of neural network can be obtained based on the Lyapunov stability theory. Numerical simulations show excellent performance of position control for picking manipulators.

Key words: manipulator, position tracking control, output feedback, adaptive neural network

CLC Number:

TP241

JIA He-ming1, SONG Wen-long1, GUO Shao-bin2, YANG Li-xin3. Adaptive Output Feedback Control of Manipulators Based on Neural Network[J]. Journal of Applied Sciences, 2013, 31(4): 427-433.

Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks

URL: https://www.jas.shu.edu.cn/EN/10.3969/j.issn.0255-8297.2013.04.014

https://www.jas.shu.edu.cn/EN/Y2013/V31/I4/427

References

[1] SPONG M, VIDYASAGAR M. Robot dynamics and control [M]. New York: John Wiley and Sons, 1989: 50-52.

[2] CANUDAS C, SICILIANO B, BASIN G. Theory of robot control [M]. New York: Springer, 1996: 35-38.

[3] SCIAVICCO L, SICILIANO B. Modeling and control of robot manipulators [M]. London: Springer-Verlag, 2000: 15-16.

[4] LEWIS F L, DAWSON D M, ABDALLAH C T. Robot manipulators control: theory and practice[M]. New York: JohnMarcel Dekker, 2004: 75-77.

[5] 贾鹤鸣，宋文龙，郭婧. 基于神经网络滑模的采摘机械臂控制设计 [J]. 吉林大学学报：工学版，2012, 42(3)：709-713.

    JIA Heming, SONG Wenlong, GUO Jing. Sliding mode control for picking manipulators based on neural-network [J]. Jounal of Jilin University: Engineering and Technology Edition, 2012, 42(3): 709-713. (in Chinese)

[6] SU Y X, PETER C, ZHENG C H. Global asymptotic saturated PID control for robot manipulators [J]. IEEE Transactions on Control Systems Technology, 2010, 18(6): 1280-1288.

[7] SHAFIQUL I, LIU X P. Robust sliding mode control for robot manipulators [J]. IEEE Transactions on Industrial Electronics, 2011, 58(6): 2444-2453.

[8] SHAFIQUL I, PETER X. P D output feedback control design for industrial robotic manipulators [J]. IEEE/ASME Transactions on Mechatronics, 2011, 16(1): 187-197.

[9] 吴玉香，周东霞，胡跃明. 一类不确定非线性系统的鲁棒自适应控制[J]. 控制理论与应用，2008, 25(6)：1053-1058.

    WU Yuxiang, ZHOU Dongxia, HU Yueming. Robust adaptive control of a class of uncertain nonlinear system [J]. Control Theory and Applications, 2008, 25(6): 1053-1058. (in Chinese)

[10] LORINC M, BELA L. Control of robotic systems with unknown friction and payload [J]. IEEE Transactions on Control Systems Technology, 2011, 19(6): 1534-1539.

[11] 于志刚，沈永良，宋申民. 机械臂鲁棒自适应运动控制 [J] .控制理论与应用，2011, 28(7): 1021-1024.

YU Zhigang, SHEN Yongliang, SONG Shenmin. Robust adaptive motion control for manipulator[J]. Control Theory and Applications, 2011, 28(7): 1021-1024. (in Chinese)

[12] 熊根良，刘伊威，黄剑斌，刘宏，蒋再南，孙奎. 基于DSP/ FPGA的反步法阻抗控制柔性关节机械臂[J]. 控制与决策，2009, 24(8): 1137-1142.

    XIONG Genliang, LIU Yiwei, HUANG Jianbin, LIU Hong, JIANG Zainan, SUN Kui. Backstepping impedance control flexible joint manipulators using DSP/FPGA structure [J]. Control and Decision, 2009, 24(8): 1137-1142. (in Chinese)

[13] 林雷，王洪瑞，任华彬. 基于模糊变结构的机械臂控制 [J]. 控制理论与应用，2007, 24(4): 643-650.

     LIN Lei, WANG Hongrui, REN Huabin. Fuzzy-based variable structure control for robotic manipulators [J]. Control Theory and Application, 2007, 24(4): 643-650. (in Chinese)

[14] 党进，倪风雷，刘业超，刘宏.一种前馈补偿和模糊滑模相结合的柔性机械臂控制 [J]. 西安交通大学学报，2011, 45(3): 75-80.

DANG Jin, NI Fenglei, LIU Yechao, LIU Hong. Control strategy for flexible manipulator based on feedforward compensation and fuzzy-sliding mode control [J]. Journal of Xi’an Jiaotong University, 2011, 45(3): 75-80. (in Chinese)

[15] JAGANNATHAN S, LEWIS F L, LIU K. Motion control and obstacle avoidance of mobile robot with an onboard manipulator [J]. Journal of Intelligent Manufacturing Systems, 1994, 5(5): 287-302.

[16] WAI R J. Tracking control based on neural network strategy for robot manipulator [J]. Neurocomputing, 2003, 51(10): 425-445.

Adaptive Output Feedback Control of Manipulators Based on Neural Network

PDF

Knowledge

Cited

Abstract

Cite this article

share this article

References

Related Articles 6

Recommended Articles

Metrics

Comments

[1]	LI Xue-song1, LI Ying-hui1, LI Xia2, LI Chao-xu1, GUO Chuang1. Robust Adaptive Backstepping Design for Unmanned Aerial Vehicle Formation Guidance and Control [J]. Journal of Applied Sciences, 2012, 30(5): 552-558.
[2]	LI Xue-song1, LI Ying-hui1, LI Xia1, WANG Zhi-ke2. Time-Varying Kalman Filter Estimation for Vision Based Unmanned Aerial Vehicle Formation Flight [J]. Journal of Applied Sciences, 2011, 29(5): 545-550.
[3]	JIANG Bing, ZHANG Chong-wei. Design of Dynamic Output Feedback Controller for Lurie Networked Control Systems [J]. Journal of Applied Sciences, 2010, 28(2): 189-196.
[4]	BU Ren-xiang;LIU Zheng-jiang;LI Tie-shan . Iterative Nonlinear Sliding Mode Control for Single Inverted Pendulum’s Position Tracking [J]. Journal of Applied Sciences, 2007, 25(3): 295-295 .
[5]	ZHU Qi-xin, HU Shou-song. Stochastic Output Feedback Control of Networked Control Systems [J]. Journal of Applied Sciences, 2004, 22(1): 71-75.
[6]	LI Zhi-hu, SHAO Hui-he. Design of the Output Feedback Passive Controllers for Time-delay Systems [J]. Journal of Applied Sciences, 2001, 19(4): 303-307.