Learning-Based Neural Adaptive Anti-Coupling Control for a Class of Robots Under Input and Structural Coupled Uncertainties

被引：0
作者：
Niu, Junlong [1 ]
Qin, Xiansheng [1 ]
Wang, Zheng [2 ,3 ,4 ]
机构：
[1] Northwestern Polytech Univ, Sch Mech Engn, Xian 710072, Peoples R China
[2] Northwestern Polytech Univ, Res Ctr Unmanned Syst Strategy Dev, Xian 710072, Peoples R China
[3] Northwestern Polytech Univ, Unmanned Syst Res Inst, Xian 710072, Peoples R China
[4] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Peoples R China
来源：
IEEE ACCESS | 2021年 / 9卷
基金：
中国国家自然科学基金;
关键词：
Robots; Uncertainty; Couplings; Legged locomotion; Nonlinear dynamical systems; Disturbance observers; Aerodynamics; Adaptive control; adaptive algorithm; uncertain systems; nonlinear dynamical systems; robot control; SLIDING-MODE CONTROL; OBSERVER-BASED CONTROL; NONLINEAR-SYSTEMS; DISTURBANCE OBSERVER; DESIGN; REJECTION; WALKING; DOBC;
D O I：
10.1109/ACCESS.2021.3060739
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates the learning - based adaptive anti-coupling control issue for the robots under input and structural coupled uncertainties. In this paper, the input and structural coupled uncertainties are modeled and transformed into a system state related term, an internal state related term and a system input related term. With the aid of the actual exponential input-state stability and the dynamic auxiliary signal, the internal state related uncertainties can be suppressed. By utilizing the properties of the robot dynamics and several special nonlinear functions, the system state related uncertainties can be handled. Moreover, to overcome the system input related uncertainties, an indirect control law and the adaptive boundary estimation law have been designed. To simplify the control structure, the neural networks have been introduced as online approximators. Finally, a novel learning-based intelligent adaptive anti-coupling control structure has been established for the robots. The simulation results revealed the satisfactory control performance of the proposed anti-coupling control algorithm.
引用
收藏
页码：32149 / 32160
页数：12
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