Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints

doi:10.1109/TFUZZ.2023.3341930

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 智能机器人系统研究

	Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints
	Diao, Shuzhen 1,2,3; Liu, Gendi 1,2,3; Liu, Zhuoqing 1,2,3; Zhou, Lu1,2,3 ; Sun, Wei4 ; Wang, Yu5 ; Sun, Ning1,2,3
发表期刊	IEEE TRANSACTIONS ON FUZZY SYSTEMS
ISSN	1063-6706
	2024-04-01
卷号	32 期号:4 页码:2039-2051
通讯作者	Sun, Ning(sunn@nankai.edu.cn)
摘要	With the advantages of natural flexibility, large force-weight ratios, and green cleanliness, pneumatic artificial muscle (PAM) actuators that mimic biological skeletal muscles have attracted much attention. However, the inherent defects of PAMs, such as high nonlinearities, limited contraction lengths and frequencies, and multiple input constraints, pose significant challenges to the motion control of PAM-actuated parallel robots; meanwhile, most existing methods do not take into account motion constraints and working efficiency. To this end, a prescribed-time adaptive fuzzy motion control method is developed in this article, where PAM-actuated parallel robots can accurately achieve prescribed tracking performance within an allowable input pressure range. In particular, regardless of the initial values of target trajectories, the expected tracking accuracy is achieved within the prescribed time by restricting the tracking errors to the improved performance constraints; also, the motion velocities remain within the preset dynamic constraints, thereby improving the working safety and efficiency. To the best of authors' knowledge, this article presents the first adaptive fuzzy motion control method for PAM-actuated parallel robots, which can simultaneously achieve motion constraints and prescribed tracking performance. Moreover, the stability of all signals is proved through theoretical analysis, and then the effectiveness of the proposed method is fully verified by a series of hardware experiments.
关键词	Parallel robots Actuators Target tracking Sun Muscles Transient analysis Safety Pneumatic artificial muscles (PAMs) multiple input constraints parallel robots prescribed-time control
DOI	10.1109/TFUZZ.2023.3341930
关键词[WOS]	SYSTEMS ; DRIVEN
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China
项目资助者	National Natural Science Foundation of China
WOS研究方向	Computer Science ; Engineering
WOS类目	Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS记录号	WOS:001196731700050
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/58148
专题	多模态人工智能系统全国重点实验室_智能机器人系统研究
通讯作者	Sun, Ning
作者单位	1.Nankai Univ, Inst Robot & Automat Informat Syst, Coll Artificial Intelligence, Tianjin 300350, Peoples R China 2.Nankai Univ, TBI Ctr, Tianjin, Peoples R China 3.Nankai Univ, Inst Intelligence Technol & Robot Syst, Shenzhen Res Inst, Shenzhen 518083, Peoples R China 4.Liaocheng Univ, Sch Math Sci, Liaocheng 252000, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Diao, Shuzhen,Liu, Gendi,Liu, Zhuoqing,et al. Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints[J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS,2024,32(4):2039-2051.
APA	Diao, Shuzhen.,Liu, Gendi.,Liu, Zhuoqing.,Zhou, Lu.,Sun, Wei.,...&Sun, Ning.(2024).Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints.IEEE TRANSACTIONS ON FUZZY SYSTEMS,32(4),2039-2051.
MLA	Diao, Shuzhen,et al."Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints".IEEE TRANSACTIONS ON FUZZY SYSTEMS 32.4(2024):2039-2051.