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 |
ISSN | 1674-733X |
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 |
DOI | 10.1007/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 | |
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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