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Tracking Control of a Closed-Chain Five-Bar Robot With Two Degrees of Freedom by Integration of an Approximation-Based Approach and Mechanical Design
Cheng, Long1; Hou, Zeng-Guang1; Tan, Min1; Zhang, W. J.2
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
2012-10-01
Volume42Issue:5Pages:1470-1479
SubtypeArticle
AbstractThe trajectory tracking problem of a closed-chain five-bar robot is studied in this paper. Based on an error transformation function and the backstepping technique, an approximation-based tracking algorithm is proposed, which can guarantee the control performance of the robotic system in both the stable and transient phases. In particular, the overshoot, settling time, and final tracking error of the robotic system can be all adjusted by properly setting the parameters in the error transformation function. The radial basis function neural network (RBFNN) is used to compensate the complicated nonlinear terms in the closed-loop dynamics of the robotic system. The approximation error of the RBFNN is only required to be bounded, which simplifies the initial "trail-and-error" configuration of the neural network. Illustrative examples are given to verify the theoretical analysis and illustrate the effectiveness of the proposed algorithm. Finally, it is also shown that the proposed approximation-based controller can be simplified by a smart mechanical design of the closed-chain robot, which demonstrates the promise of the integrated design and control philosophy.
KeywordAdaptive Backstepping Closed-chain Robot Design Neural Network Tracking Transient Performance.
WOS HeadingsScience & Technology ; Technology
WOS KeywordROBUST ADAPTIVE-CONTROL ; MIMO NONLINEAR-SYSTEMS ; PRESCRIBED PERFORMANCE ; PARALLEL ROBOT ; MANIPULATORS ; DYNAMICS ; FEEDBACK ; MACHINE
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS IDWOS:000308995500013
Citation statistics
Cited Times:49[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3483
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Cheng, Long,Hou, Zeng-Guang,Tan, Min,et al. Tracking Control of a Closed-Chain Five-Bar Robot With Two Degrees of Freedom by Integration of an Approximation-Based Approach and Mechanical Design[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,2012,42(5):1470-1479.
APA Cheng, Long,Hou, Zeng-Guang,Tan, Min,&Zhang, W. J..(2012).Tracking Control of a Closed-Chain Five-Bar Robot With Two Degrees of Freedom by Integration of an Approximation-Based Approach and Mechanical Design.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,42(5),1470-1479.
MLA Cheng, Long,et al."Tracking Control of a Closed-Chain Five-Bar Robot With Two Degrees of Freedom by Integration of an Approximation-Based Approach and Mechanical Design".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 42.5(2012):1470-1479.
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