Adaptive neural network control of a robotic manipulator with unknown backlash-like hysteresis

被引：64
作者：
He, Wei [1 ,2 ]
Amoateng, David Ofosu [3 ]
Yang, Chenguang [4 ]
Gong, Dawei [5 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
[2] Univ Sci & Technol Beijing, Key Lab Adv Control Iron & Steel Proc, Beijing 100083, Peoples R China
[3] Masdar Inst Sci & Technol, Dept Elect Engn & Comp Sci, Abu Dhabi, U Arab Emirates
[4] Swansea Univ, Zienkiewicz Ctr Computat Engn, Swansea SA1 8EN, W Glam, Wales
[5] Univ Elect Sci & Technol China, Sch Mechatron Engn, Chengdu 611731, Peoples R China
来源：
IET CONTROL THEORY AND APPLICATIONS | 2017年 / 11卷 / 04期
基金：
国家高技术研究发展计划(863计划); 中国国家自然科学基金; 英国工程与自然科学研究理事会;
关键词：
manipulators; adaptive control; neurocontrollers; radial basis function networks; hysteresis; observers; state feedback; robot dynamics; control nonlinearities; robotic manipulator; adaptive neural network controller; backlash-like hysteresis; friction; radial basis function; hyperbolic tangent activation function; output feedback control; full state feedback control; high gain observer; hysteresis nonlinearity; UNCERTAIN NONLINEAR-SYSTEMS; TIME-VARYING DELAY; TRACKING CONTROL; VIBRATION CONTROL; COMPENSATION; ACTUATOR; DESIGN; PLANTS;
D O I：
10.1049/iet-cta.2016.1058
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 study proposes an adaptive neural network controller for a 3-DOF robotic manipulator that is subject to backlash-like hysteresis and friction. Two neural networks are used to approximate the dynamics and the hysteresis non-linearity. A neural network, which utilises a radial basis function approximates the robot's dynamics. The other neural network, which employs a hyperbolic tangent activation function, is used to approximate the unknown backlash-like hysteresis. The authors also consider two cases: full state and output feedback control. For output feedback, where system states are unknown, a high gain observer is employed to estimate the states. The proposed controllers ensure the boundedness of the control signals. Simulations are also performed to show the effectiveness of the controllers.
引用
收藏
页码：567 / 575
页数：9
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