CASIA OpenIR  > 复杂系统认知与决策实验室  > 先进机器人
Composite Learning Enhanced Neural Control for Robot Manipulator With Output Error Constraints
Huang, Dianye1; Yang, Chenguang1; Pan, Yongping2; Cheng, Long3,4
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN1551-3203
2021
Volume17Issue:1Pages:209-218
Corresponding AuthorYang, Chenguang(cyang@ieee.org)
AbstractThis article presents a control scheme for robot manipulators with the consideration of output error constraints, unknown dynamics, and bounded disturbances. A modified virtual input variable in the second stage design of the dynamic surface control scheme is proposed, which can enhance the robustness of the controller. Bounded disturbances due to the situations that the base is not well fixed if the robot manipulator is mounted at a mobile platform are considered and suppressed. Besides, the detailed implementation process of the composite learning laws adopted for enhancing the radial basis function neural network is presented. Lyapunov stability analysis verifies that the proposed control scheme ensures the trajectory tracking errors stay within predefined boundaries and parameter estimate errors converge without a stringent condition termed persistent excitation. Experimental results show the superiority of the proposed controller regarding parameter estimation and tracking capabilities.
KeywordManipulator dynamics Uncertainty Informatics Service robots Lyapunov methods Barrier Lyapunov function (BLF) composite learning (CL) output error constraints radial basis function neural network robot manipulators
DOI10.1109/TII.2019.2957768
WOS KeywordADAPTIVE BACKSTEPPING CONTROL ; NONLINEAR-SYSTEMS ; STATE
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61861136009] ; National Natural Science Foundation of China[61811530281] ; National Natural Science Foundation of China[61703295] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[61633016] ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation[4162066]
Funding OrganizationNational Natural Science Foundation of China ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial
WOS IDWOS:000587719200019
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:103[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/41789
Collection复杂系统认知与决策实验室_先进机器人
Corresponding AuthorYang, Chenguang
Affiliation1.South China Univ Technol, Coll Automat Sci & Engn, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Peoples R China
2.Sun Yat Sen Univ, Sch Data & Comp Sci, Guangzhou 510006, Peoples R China
3.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China
4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
Recommended Citation
GB/T 7714
Huang, Dianye,Yang, Chenguang,Pan, Yongping,et al. Composite Learning Enhanced Neural Control for Robot Manipulator With Output Error Constraints[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2021,17(1):209-218.
APA Huang, Dianye,Yang, Chenguang,Pan, Yongping,&Cheng, Long.(2021).Composite Learning Enhanced Neural Control for Robot Manipulator With Output Error Constraints.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,17(1),209-218.
MLA Huang, Dianye,et al."Composite Learning Enhanced Neural Control for Robot Manipulator With Output Error Constraints".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 17.1(2021):209-218.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Huang, Dianye]'s Articles
[Yang, Chenguang]'s Articles
[Pan, Yongping]'s Articles
Baidu academic
Similar articles in Baidu academic
[Huang, Dianye]'s Articles
[Yang, Chenguang]'s Articles
[Pan, Yongping]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Huang, Dianye]'s Articles
[Yang, Chenguang]'s Articles
[Pan, Yongping]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.