CASIA OpenIR
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
Source PublicationIEEE TRANSACTIONS ON FUZZY SYSTEMS
ISSN1063-6706
2019-03-01
Volume27Issue:3Pages:574-588
Corresponding AuthorYang, Chenguang(cyang@ieee.org)
AbstractDue 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.
KeywordDual-arm robots finite-time (FT) convergence fuzzy logic system (FLS) uncertain kinematics
DOI10.1109/TFUZZ.2018.2864940
WOS KeywordPARAMETER-ESTIMATION ; TRACKING CONTROL ; UNCERTAIN KINEMATICS ; ELECTRIC CONNECTORS ; FAULT-DETECTION ; MANIPULATORS ; DESIGN ; MODEL ; COORDINATION ; SYSTEMS
Indexed BySCI
Language英语
Funding ProjectNational 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]
Funding OrganizationNational 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 Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS IDWOS:000460432200014
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/24977
Collection中国科学院自动化研究所
Corresponding AuthorYang, Chenguang
Affiliation1.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
Recommended Citation
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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