Force Sensorless Admittance Control With Neural Learning for Robots With Actuator Saturation

doi:10.1109/TIE.2019.2912781

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	Force Sensorless Admittance Control With Neural Learning for Robots With Actuator Saturation
	Peng, Guangzhu 1; Yang, Chenguang 2; He, Wei 3; Chen, C. L. Philip 4,5,6
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN	0278-0046
	2020-04-01
卷号	67 期号:4 页码:3138-3148
通讯作者	Yang, Chenguang(cyang@ieee.org)
摘要	In this paper, we present a sensorless admittance control scheme for robotic manipulators to interact with unknown environments in the presence of actuator saturation. The external environment is defined as linear models with unknown dynamics. Using admittance control, the robotic manipulator is controlled to be compliant with external torque from the environment. The external torque acted on the end-effector is estimated by using a disturbance observer based on generalized momentum. The model uncertainties are solved by using radial basis neural networks (NNs). To guarantee the tracking performance and tackle the effect of actuator saturation, an adaptive NN controller integrating an auxiliary system is designed to handle the actuator saturation. By employing Lyapunov stability theory, the stability of the closed-loop system is achieved. The experiments on the Baxter robot are implemented to verify the effectiveness of the proposed method.
关键词	Robot sensing systems Admittance Manipulators Force Torque Adaptation models Adaptive neural control admittance control neural networks (NNs) observer
DOI	10.1109/TIE.2019.2912781
关键词[WOS]	NONLINEAR-SYSTEMS ; IMPEDANCE CONTROL ; DESIGN
收录类别	SCI
语种	英语
资助项目	Engineering and Physical Sciences Research Council[EP/S001913] ; National Natural Science Foundation of China[61751202] ; National Natural Science Foundation of China[61572540] ; Key Program for International S&T Cooperation Projects of China[2016YFE0121200] ; Macau Science and Technology Development Fund[019/2015/A1] ; Macau Science and Technology Development Fund[079/2017/A2] ; Macau Science and Technology Development Fund[024/2015/AMJ] ; University of Macau ; Engineering and Physical Sciences Research Council[EP/S001913] ; National Natural Science Foundation of China[61751202] ; National Natural Science Foundation of China[61572540] ; Key Program for International S&T Cooperation Projects of China[2016YFE0121200] ; Macau Science and Technology Development Fund[019/2015/A1] ; Macau Science and Technology Development Fund[079/2017/A2] ; Macau Science and Technology Development Fund[024/2015/AMJ] ; University of Macau
项目资助者	Engineering and Physical Sciences Research Council ; National Natural Science Foundation of China ; Key Program for International S&T Cooperation Projects of China ; Macau Science and Technology Development Fund ; University of Macau
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000507307000061
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：128[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/173211/29540
专题	离退休人员
通讯作者	Yang, Chenguang
作者单位	1.Univ Macau, Dept Comp & Informat Sci, Fac Sci & Technol, Macau 999078, Peoples R China 2.Univ West England, Bristol Robot Lab, Bristol BS16 1QY, Avon, England 3.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China 4.Univ Macau, Fac Sci & Technol, Macau 999078, Peoples R China 5.Dalian Maritime Univ, Dept Nav, Dalian 116026, Peoples R China 6.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Peng, Guangzhu,Yang, Chenguang,He, Wei,et al. Force Sensorless Admittance Control With Neural Learning for Robots With Actuator Saturation[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2020,67(4):3138-3148.
APA	Peng, Guangzhu,Yang, Chenguang,He, Wei,&Chen, C. L. Philip.(2020).Force Sensorless Admittance Control With Neural Learning for Robots With Actuator Saturation.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,67(4),3138-3148.
MLA	Peng, Guangzhu,et al."Force Sensorless Admittance Control With Neural Learning for Robots With Actuator Saturation".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 67.4(2020):3138-3148.