Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics
Chenguang Yang;  Yiming Jiang;  Jing Na;  Zhijun Li;  Long Cheng;  Chunyi Su
发表期刊IEEE Transactions on Fuzzy Systems
2018
摘要Control design for robots with kinematic and dynamic uncertainties has been well studied for single arm cases, but little effort has been made to dual-arm cases. Due to the strongly coupled nonlinearity of the dual-arm robot and the internal forces generated by the grasping common object, the dual-arm robot control with uncertain kinematics and dynamics becomes extremely challenging. In this paper, we developed an adaptive fuzzy control scheme for a dual arm robot in the presence of both kinematic and dynamic uncertainties. The approximate Jacobian matrix (AJM) was applied to address the uncertain kinematic control, while decentralized fuzzy logic controller (FLC) was constructed to compensate for uncertain dynamics of the robotic arms and the manipulated objects. In addition, to guarantee the finite time convergence of the estimated parameters, a novel finite-time convergence parameter adaptation (FCPA) technique was developed for the estimation of kinematic parameters and fuzzy logic weights. The estimated parameters were guaranteed to converge to small neighborhoods around their ideal values in a finite time, which enables the designer to re-use these learned weight values next time without relearning. In addition, a partial persistent excitation (PPE) property of Gaussian membership based fuzzy basis function (GFBF) was established, such that the condition of the conventional persistent excitation (PE) is relaxed. Extensive simulation studies have been carried out based on a dual-arm robot to illustrate the effectiveness and efficiency of the proposed approach.
关键词Fuzzy logic system (FLS) dual-arm robots Uncertain kinematics Finite-Time (FT) convergence
DOI10.1109/TFUZZ.2018.2864940
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/23167
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Chenguang Yang, Yiming Jiang, Jing Na,et al. Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics[J]. IEEE Transactions on Fuzzy Systems,2018.
APA Chenguang Yang, Yiming Jiang, Jing Na, Zhijun Li, Long Cheng,& Chunyi Su.(2018).Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics.IEEE Transactions on Fuzzy Systems.
MLA Chenguang Yang,et al."Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics".IEEE Transactions on Fuzzy Systems (2018).
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