Learning impedance control of robots with enhanced transient and steady-state control performances
Sun, Tairen1; Cheng, Long1; Peng, Liang1; Hou, Zengguang1; Pan, Yongping2
发表期刊SCIENCE CHINA-INFORMATION SCIENCES
ISSN1674-733X
2020-07-24
卷号63期号:9页码:13
通讯作者Hou, Zengguang(zengguang.hou@ia.ac.cn)
摘要This study proposes a learning impedance controller comprising a proportional feedback control term, a composite-learning-based uncertainty estimation term, and a robot-environment interaction control term. The impedance control problem is converted into a particular reference-trajectory tracking problem based on a generated reference trajectory. The proposed controller ensures the exponential convergence of the auxiliary tracking error and the uncertainty estimation error. The interaction control term improves the transient control performance through suppression/encouragement of the incorrect/correct robot movements. The composite-learning update law enhances the transient and steady-state control performances based on the exponential convergence of the uncertainty estimation error and auxiliary tracking error. Finally, the effectiveness and advantages of the proposed impedance controller are validated by theoretical analysis and simulations on a parallel robot.
关键词robot adaptive control neural network impedance control parameter convergence
DOI10.1007/s11432-019-2639-6
收录类别SCI
语种英语
资助项目National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[61633016] ; Beijing Natural Science Foundation[L182060] ; Strategic Priority Research Program of Chinese Academy of Sciences[XDB32040000] ; China Postdoctoral Science Foundation[2019T120405]
项目资助者National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Strategic Priority Research Program of Chinese Academy of Sciences ; China Postdoctoral Science Foundation
WOS研究方向Computer Science ; Engineering
WOS类目Computer Science, Information Systems ; Engineering, Electrical & Electronic
WOS记录号WOS:000556903000001
出版者SCIENCE PRESS
七大方向——子方向分类智能控制
引用统计
被引频次:16[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/173211/40361
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Hou, Zengguang
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Sun Yat Sen Univ, Sch Data & Comp Sci, Guangzhou 510006, Peoples R China
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Sun, Tairen,Cheng, Long,Peng, Liang,et al. Learning impedance control of robots with enhanced transient and steady-state control performances[J]. SCIENCE CHINA-INFORMATION SCIENCES,2020,63(9):13.
APA Sun, Tairen,Cheng, Long,Peng, Liang,Hou, Zengguang,&Pan, Yongping.(2020).Learning impedance control of robots with enhanced transient and steady-state control performances.SCIENCE CHINA-INFORMATION SCIENCES,63(9),13.
MLA Sun, Tairen,et al."Learning impedance control of robots with enhanced transient and steady-state control performances".SCIENCE CHINA-INFORMATION SCIENCES 63.9(2020):13.
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