Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics | |
Yang, Chenguang1; Jiang, Yiming1; Na, Jing2; Li, Zhijun3; Cheng, Long4,5; Su, Chun-Yi6 | |
发表期刊 | IEEE TRANSACTIONS ON FUZZY SYSTEMS |
ISSN | 1063-6706 |
2019-03-01 | |
卷号 | 27期号:3页码:574-588 |
通讯作者 | Yang, Chenguang(cyang@ieee.org) |
摘要 | Due to strongly coupled nonlinearities of the grasped dual-arm robot and the internal forces generated by grasped objects, the dual-arm robot control with uncertain kinematics and dynamics raises a challenging problem. In this paper, an adaptive fuzzy control scheme is developed for a dual-arm robot, where an approximate Jacobian matrix is applied to address the uncertain kinematic control, while a decentralized fuzzy logic controller is constructed to compensate for uncertain dynamics of the robotic arms and the manipulated object. Also, a novel finite-time convergence parameter adaptation technique is developed for the estimation of kinematic parameters and fuzzy logic weights, such that the estimation can be guaranteed to converge to small neighborhoods around their ideal values in a finite time. Moreover, a partial persistent excitation property of the Gaussian-membership-based fuzzy basis function was established to relax the conventional persistent excitation condition. This enables a designer to reuse these learned weight values in the future without relearning. Extensive simulation studies have been carried out using a dual-arm robot to illustrate the effectiveness of the proposed approach. |
关键词 | Dual-arm robots finite-time (FT) convergence fuzzy logic system (FLS) uncertain kinematics |
DOI | 10.1109/TFUZZ.2018.2864940 |
关键词[WOS] | PARAMETER-ESTIMATION ; TRACKING CONTROL ; UNCERTAIN KINEMATICS ; ELECTRIC CONNECTORS ; FAULT-DETECTION ; MANIPULATORS ; DESIGN ; MODEL ; COORDINATION ; SYSTEMS |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Nature Science Foundation[61473120] ; National Nature Science Foundation[61811530281] ; National Nature Science Foundation[61573174] ; National Nature Science Foundation[61873268] ; National Nature Science Foundation[61633016] ; Science and Technology Planning Project of Guangzhou[201607010006] ; State Key Laboratory of Robotics and System (HIT)[SKLRS-2017-KF-13] ; Fundamental Research Funds for the Central Universities[2017ZD057] ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation[4162066] ; Major Science and Technology Project of Beijing[Z181100003118006] ; National Nature Science Foundation[61473120] ; National Nature Science Foundation[61811530281] ; National Nature Science Foundation[61573174] ; National Nature Science Foundation[61873268] ; National Nature Science Foundation[61633016] ; Science and Technology Planning Project of Guangzhou[201607010006] ; State Key Laboratory of Robotics and System (HIT)[SKLRS-2017-KF-13] ; Fundamental Research Funds for the Central Universities[2017ZD057] ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation[4162066] ; Major Science and Technology Project of Beijing[Z181100003118006] |
项目资助者 | National Nature Science Foundation ; Science and Technology Planning Project of Guangzhou ; State Key Laboratory of Robotics and System (HIT) ; Fundamental Research Funds for the Central Universities ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation ; Major Science and Technology Project of Beijing |
WOS研究方向 | Computer Science ; Engineering |
WOS类目 | Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic |
WOS记录号 | WOS:000460432200014 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/24977 |
专题 | 复杂系统管理与控制国家重点实验室_先进机器人 |
通讯作者 | Yang, Chenguang |
作者单位 | 1.South China Univ Technol, Key Lab Autonomous Syst & Networked Control, Coll Automat Sci & Engn, Guangzhou 510640, Guangdong, Peoples R China 2.Kunming Univ Sci & Technol, Fac Mech & Elect Engn, Kunming 650500, Yunnan, Peoples R China 3.Univ Sci & Technol China, Dept Automat, Hefei 230026, Anhui, Peoples R China 4.Chinese Acad Sci, Key Lab Complex Syst & Intelligence Sci, Inst Automat, Beijing 100190, Peoples R China 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 6.Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Guangdong, Peoples R China |
推荐引用方式 GB/T 7714 | Yang, Chenguang,Jiang, Yiming,Na, Jing,et al. Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics[J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS,2019,27(3):574-588. |
APA | Yang, Chenguang,Jiang, Yiming,Na, Jing,Li, Zhijun,Cheng, Long,&Su, Chun-Yi.(2019).Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics.IEEE TRANSACTIONS ON FUZZY SYSTEMS,27(3),574-588. |
MLA | Yang, Chenguang,et al."Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics".IEEE TRANSACTIONS ON FUZZY SYSTEMS 27.3(2019):574-588. |
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