Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion

doi:10.1109/TSMC.2019.2930582

	Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion
	Sun, Tairen 1; Peng, Liang1 ; Cheng, Long1,2 ; Hou, Zeng-Guang1,2,3 ; Pan, Yongping 4
发表期刊	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN	2168-2216
	2021-07-01
卷号	51 期号:7 页码:4193-4200
通讯作者	Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
摘要	Variable impedance control has been considered as one of the most important compliant control approaches for its abilities in improving compliance, safety, and efficiency in robot-environment interaction. However, existing variable impedance controllers have deficits in stability guarantee. This article proposes a stability-guaranteed variable impedance control approach for robots with modeling uncertainties based on approximate dynamic inversion (ADI). Novel constraints on variable impedance profiles are given to guarantee the exponential stability of the desired variable impedance dynamics. An ADI-based impedance control law is designed to achieve the desired variable impedance dynamics through the convergence of a variable impedance error. Based on the extended Tikhonovs theorem, it is proven that the closed-loop control system has semiglobal practical exponential stability. The proposed impedance controller can be implemented in a PID form and is appealing for its simple structure, easy implementation, and control stability guarantee. The effectiveness of the proposed variable impedance controller is illustrated by an illustrative example taken on a five-bar parallel robot.
关键词	Approximate dynamic inversion (ADI) impedance control robot control trajectory tracking variable impedance
DOI	10.1109/TSMC.2019.2930582
关键词[WOS]	MANIPULATION
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[61533016] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[61603386] ; Beijing Natural Science Foundation[L172050] ; Beijing Natural Science Foundation[L182060] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32040000] ; China Post-Doctoral Science Foundation[2018M642190] ; China Post-Doctoral 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 Science ; China Post-Doctoral Science Foundation
WOS研究方向	Automation & Control Systems ; Computer Science
WOS类目	Automation & Control Systems ; Computer Science, Cybernetics
WOS记录号	WOS:000672729600017
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	智能控制
引用统计	被引频次：33[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/173211/45529
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Hou, Zeng-Guang
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Beijing 100190, Peoples R China 4.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,Peng, Liang,Cheng, Long,et al. Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021,51(7):4193-4200.
APA	Sun, Tairen,Peng, Liang,Cheng, Long,Hou, Zeng-Guang,&Pan, Yongping.(2021).Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,51(7),4193-4200.
MLA	Sun, Tairen,et al."Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 51.7(2021):4193-4200.