Recurrent fuzzy wavelet neural network variable impedance control of robotic manipulators with fuzzy gain dynamic surface in an unknown varied environment

被引：28

作者：

Hamedani, Mohammad Hossein ^{[1
]}

Zekri, Maryam ^{[1
]}

Sheikholeslam, Farid ^{[1
]}

Selvaggio, Mario ^{[2
]}

Ficuciello, Fanny ^{[2
]}

Siciliano, Bruno ^{[2
]}

机构：

[1] Isfahan Univ Technol, Dept Elect & Comp Engn, Esfahan 8415683111, Iran

[2] Univ Naples Federico II, Dept Elect Engn & Informat Technol, Naples, Italy

来源：

FUZZY SETS AND SYSTEMS | 2021年 / 416卷

关键词：

Intelligent impedance control; Robotic manipulator; Recurrent fuzzy wavelet neural networks; Fuzzy dynamic surface control; ADAPTIVE-BACKSTEPPING CONTROL; UNCERTAIN NONLINEAR-SYSTEMS; VIBRATION CONTROL; TRACKING CONTROL; IDENTIFICATION; SATURATION; STABILITY;

D O I：

10.1016/j.fss.2020.05.001

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

In this paper, an intelligent variable impedance control combined with a fuzzy gain dynamic surface is proposed to improve the interaction of the robot manipulator with an unknown varied environment. The parameters of the proposed variable impedance are adapted by optimization an introduced cost function using a recurrent fuzzy wavelet network. The stability conditions for the varying inertial, stiffness and damping are presented to guarantee the stability of the variable impedance. Additionally, a fuzzy dynamic surface method is developed to tune the gains of the dynamic surface as a robust controller. The proposed fuzzy gain dynamic surface is used to force the end-effector of the manipulator to track the desired impedance profile in the presence of large disturbances. Using Lyapunov's method, the stability of the mentioned closed-loop system is proved. Finally, by using a designed simulator for IRB120 (ABB) robot, several simulations are carried out to verify the performance of the proposed method for the execution of various tasks in an unknown varied environment in the presence of large disturbances. (c) 2020 Elsevier B.V. All rights reserved.

引用

页码：1 / 26

页数：26

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