Neural-network-based robot time-varying force control with uncertain manipulator-environment system

被引：21
|
作者：
Xu, Wenkang [1 ]
Cai, Chenxiao [1 ]
Zou, Yun [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China
来源：
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2014年 / 36卷 / 08期
基金：
中国国家自然科学基金;
关键词：
Time-varying force tracking; robot force control; robust control; neural network; DYNAMICS; TRACKING;
D O I：
10.1177/0142331214528971
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 considers the problem of time-varying force control for robot manipulators in the presence of uncertainties from both the robotic model and working environment. The position-based impedance control (PBIC) method is employed and in order to achieve accurate time-varying force tracking, an improved PBIC is proposed. A neural-network-based robust controller is proposed to compensate for the system uncertainties, and an adaptive law is developed to identify the uncertain environmental parameters. Simulation results on a two-link robot manipulator confirm the effectiveness of the method in achieving time-varying force tracking.
引用
收藏
页码：999 / 1009
页数：11
相关论文
共 50 条
  • [31] PD Control Compensation Based on a Cascade Neural Network Applied to a Robot Manipulator
    Soriano, Luis Arturo
    Zamora, Erik
    Vazquez-Nicolas, J. M.
    Hernandez, Gerardo
    Barraza Madrigal, Jose Antonio
    Balderas, David
    FRONTIERS IN NEUROROBOTICS, 2020, 14
  • [32] Finite-time H∞ Control for Uncertain System With Time-varying Delay and Exogenous Disturbance
    Dong, Yali
    Liu, Meng
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2023, 21 (10) : 3249 - 3258
  • [33] Adaptive neural network based fuzzy sliding mode control of robot manipulator
    Gokhan Ak, Ayca
    Cansever, Galip
    2006 IEEE CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS, VOLS 1 AND 2, 2006, : 771 - +
  • [34] Neural network-based position synchronised internal force control scheme for cooperative manipulator system
    Wang, Jin
    Xu, Fan
    Lu, GuoDong
    INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2017, 48 (12) : 2485 - 2498
  • [35] Neural Network Adaptive Control of Teleoperation Systems with Uncertainties and Time-Varying Delay
    Kebria, Parham M.
    Khosravi, Abbas
    Nahavandi, Saeid
    Najdovski, Zoran
    Hilton, Stephen John
    2018 IEEE 14TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), 2018, : 252 - 257
  • [36] Identification of mathematical model for time-varying delay system based on dual-neural network
    Pan, F
    Han, RC
    Zhi, ZY
    Liu, HB
    Zuo, L
    ISTM/2005: 6th International Symposium on Test and Measurement, Vols 1-9, Conference Proceedings, 2005, : 1281 - 1283
  • [37] Neural-network-based adaptive control for induction servomotor drive system
    Lin, CM
    Hsu, CF
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2002, 49 (01) : 115 - 123
  • [38] Trajectory tracking control of robot manipulators using a neural-network-based torque compensator
    Li, Q
    Tso, SK
    Zhang, WJ
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 1998, 212 (I5) : 361 - 372
  • [39] An In-Pipe Leak Detection Robot With a Neural-Network-Based Leak Verification System
    Waleed, Dania
    Mustafa, Syed Hamdan
    Mukhopadhyay, Shayok
    Abdel-Hafez, Mamoun F.
    Jaradat, Mohammad Abdel Kareem
    Dias, Kevin Rose
    Arif, Fahad
    Ahmed, Jawwad Imtiaz
    IEEE SENSORS JOURNAL, 2019, 19 (03) : 1153 - 1165
  • [40] Robust adaptive output sampled control of uncertain system with unknown time-varying control coefficient based on characteristic model
    Chang, Yafei
    Huang, Huang
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 1367 - 1372
12345