Adaptive Compensation Tracking Control for Parallel Robots Actuated by Pneumatic Artificial Muscles With Error Constraints

被引:9
作者
Wang, Qihang [1 ,2 ,3 ]
Yang, Tong [1 ,2 ,3 ]
Liu, Gendi [1 ,2 ,3 ]
Qin, Yanding [1 ,2 ,3 ]
Fang, Yongchun [1 ,2 ,3 ]
Sun, Ning [1 ,2 ,3 ]
机构
[1] Nankai Univ, Coll Artificial Intelligence, Inst Robot & Automat Informat Syst, Tianjin 300350, Peoples R China
[2] Nankai Univ, TBI Ctr, Tianjin 300350, Peoples R China
[3] Nankai Univ, Shenzhen Res Inst, Inst Intelligence Technol & Robot Syst, Shenzhen 518083, Peoples R China
基金
中国国家自然科学基金;
关键词
adaptive control; Lyapunov techniques; pneumatic artificial muscles; parallel robots; NETWORK; MANIPULATORS; STABILITY; DESIGN;
D O I
10.1109/TII.2023.3280321
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
As pneumatic artificial muscles (PAMs) are similar to biological muscles in structure and movement mechanisms, parallel robots actuated by PAMs have development prospects in rehabilitation and industry, with advantages such as compliance, high safety, strong bearing capacity, and satisfactory dynamic performance. However, the parameter uncertainties and model complexity related to inherent characteristics of parallel robots actuated by PAMs (e.g., time-varying, coupling, hysteresis, creep, and high nonlinearity), bring challenges to accurate dynamic modeling and controller design. Therefore, to achieve satisfactory tracking performance, this paper presents an adaptive compensation tracking controller with error constraints for parallel robots actuated by PAMs. The proposed controller deals with parameter uncertainties by estimating system parameters to ensure accurate tracking, which is indicated as an effective solution for a combination of PAMs and parallel robots. Furthermore, using desired trajectory signals in the complicated regression matrix, the online computational burden is significantly reduced. Moreover, to improve operation safety further, an auxiliary term with a theoretical demonstration guarantees that the tracking errors are maintained within allowable ranges. Then, the closed-loop stability is demonstrated by Lyapunov techniques. As far as we know, it is the first time that the challenges of parameter uncertainties, computational burdens, and error constraints of parallel robots actuated by PAMs are simultaneously addressed, which has both theoretical significance and practical value. Finally, the hardware experiments are implemented under different scenarios, and the results indicate that the proposed method achieves satisfactory tracking performance.
引用
收藏
页码:1585 / 1595
页数:11
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