Global adaptive tracking control of robot manipulators using neural networks with finite-time learning convergence

International Journal of Control, Automation and Systems - Tập 15 Số 4 - Trang 1916-1924 - 2017
Chenguang Yang1,2, Tao Teng1, Bin Xu3, Zhijun Li1, Jing Na4, Chun‐Yi Su1
1Key Lab of Autonomous Systems and Networked Control, Ministry of Education, South China University of Technology, Guangzhou, China
2Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, UK
3School of Automation, Northwestern Polytechnical University, Xian, China
4Faculty of Mechanical & Electrical Engineering, Kunming University of Science & Technology, Kunming, China

Tóm tắt

Từ khóa


Tài liệu tham khảo

R. Cui, X. Zhang, and D. Cui, “Adaptive sliding-mode attitude control for autonomous underwater vehicles with input nonlinearities,” Ocean Engineering, vol. 123, pp. 45–54, 2016. [click]

C. Yang, Z. Li, R. Cui, and B. Xu, “Neural network-based motion control of an underactuated wheeled inverted pendulum model.,” IEEE Transactions on Neural Networks & Learning Systems, vol. 25, no. 11, pp. 2004–2016, 2014. [click]

H. Li and W. Yan, “Model predictive stabilization of constrained underactuated autonomous underwater vehicles with guaranteed feasibility and stability,” IEEE/ASME Transactions on Mechatronics, vol. 22, no. 3, pp. 1185–1194, 2017.

H. Li, P. Xie, and W. Yan, “Receding horizon formation tracking control of constrained underactuated autonomous underwater vehicles,” IEEE Transactions on Industrial Electronics, vol. 64, no. 6, pp. 5004–5013, 2017.

Q. Zhou, H. Li, C. Wu, L. Wang, and C. K. Ahn, “Adaptive fuzzy control of nonlinear systems with unmodeled dynamics and input saturation using small-gain approach,” IEEE Transactions on Systems Man & Cybernetics Systems, vol. PP, no. 99, pp. 1–11, 2016.

C. K. Ahn, P. Shi, and L. Wu, “Receding horizon stabilization and disturbance attenuation for neural networks with time-varying delay,” IEEE Transactions on Cybernetics, vol. 45, no. 12, pp. 2680–2692, 2014.

W. He, Y. Chen, and Z. Yin, “Adaptive neural network control of an uncertain robot with full-state constraints,” IEEE Transactions on Cybernetics, vol. 46, no. 3, pp. 620–629, 2016. [click]

W. He, A. O. David, Z. Yin, and C. Sun, “Neural network control of a robotic manipulator with input deadzone and output constraint,” IEEE Transactions on Systems Man & Cybernetics Systems, vol. 46, no. 6, pp. 759–770, 2016. [click]

W. He, Z. Yin, and C. Sun, “Adaptive neural network control of a marine vessel with constraints using the asymmetric barrier lyapunov function,” IEEE Transactions on Cybernetics, vol. 47, no. 3, pp. 1641–1651, 2017.

L. Cheng, Z. G. Hou, and M. Tan, “Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model,” Automatica, vol. 45, no. 10, pp. 2312–2318, 2009. [click]

F. Sun, Z. Sun, and P. Y. Woo, “Neural network-based adaptive controller design of robotic manipulators with an observer,” IEEE Transactions on Neural Networks, vol. 12, no. 1, pp. 54–67, 2001. [click]

F. C. Sun, Z. Q. Sun, R. J. Zhang, and Y. B. Chen, “Neural adaptive tracking controller for robot manipulators with unknown dynamics,” IEE Proceedings -Control Theory and Applications, vol. 147, no. 3, pp. 366–370, 2000. [click]

C. Yang, Y. Jiang, Z. Li, W. He, and C.-Y. Su, “Neural control of bimanual robots with global stability and motion precision.,” IEEE Transactions on Industrial Informatics, DOI: 10.1109/TII.2016.2612646.

D. Bu, W. Sun, H. Yu, C. Wang, and H. Zhang, “Adaptive robust control based on rbf neural networks for duct cleaning robot,” International Journal of Control, Automation and Systems, vol. 13, no. 2, pp. 475–487, 2015. [click]

R. M. Sanner and J. E. Slotine, “Gaussian networks for direct adaptive control,” IEEE Transactions on Neural Networks, vol. 3, no. 6, pp. 837–863, 1992. [click]

H. B. Li, F. C. Sun, Z. Q. Sun, and J. Du, “Optimal state feedback integral control using network-based measurements,” IEEE Transactions on Instrumentation & Measurement, vol. 61, no. 12, pp. 3127–3135, 2012. [click]

J. Na, Q. Chen, X. Ren, and Y. Guo, “Adaptive prescribed performance motion control of servo mechanisms with friction compensation,” IEEE Transactions on Industrial Electronics, vol. 61, no. 1, pp. 486–494, 2014. [click]

S. J. Chang, J. Y. Lee, B. P. Jin, and Y. H. Choi, “An online fault tolerant actor-critic neuro-control for a class of nonlinear systems using neural network hjb approach,” International Journal of Control, Automation and Systems, vol. 13, no. 2, pp. 311–318, 2015. [click]

F. C. Sun, Z. Sun, and P. Y. Woo, “Stable neural-networkbased adaptive control for sampled-data nonlinear systems,” IEEE Transactions on Neural networks, vol. 9, no. 5, pp. 956–968, 1998. [click]

L. Cheng, Z. G. Hou, M. Tan, and W. J. Zhang, “Tracking control of a closed-chain five-bar robot with two degrees of freedom by integration of an approximation-based approach and mechanical design.,” IEEE Transactions on Systems, Man, and Cybernetics, Part B:, vol. 42, no. 5, pp. 1470–1479, 2012.

L. Cheng, Z. G. Hou, M. Tan, Y. Lin, and W. Zhang, “Neural-network-based adaptive leader-following control for multiagent systems with uncertainties,” IEEE Transactions on Neural Networks, vol. 21, no. 8, pp. 1351–1358, 2010. [click]

L. Cheng, Z. G. Hou, Y. Lin, M. Tan, W. C. Zhang, and F. X. Wu, “Recurrent neural network for non-smooth convex optimization problems with application to the identification of genetic regulatory networks,” IEEE Transactions on Neural Networks, vol. 22, no. 5, pp. 714–726, 2011. [click]

M. Chen, P. Shi, and C. C. Lim, “Adaptive neural faulttolerant control of a 3-dof model helicopter system,” IEEE Transactions on Systems Man & Cybernetics Systems, vol. 46, no. 2, pp. 260–270, 2015. [click]

T. Teng, C. Yang, B. Xu, and Z. Li, “Neural network based global adaptive dynamic surface tracking control for robot manipulators,” Proc. of IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), pp. 20–25, IEEE, 18-20 Aug, 2016, Macau, China.

B. Xu, C. Yang, and Y. Pan, “Global neural dynamic surface tracking control of strict-feedback systems with application to hypersonic flight vehicle,” IEEE Transactions on Neural Networks and Learning Systems, vol. 26, no. 10, pp. 2563–2575, 2015. [click]

J.-T. Huang, “Global tracking control of strict-feedback systems using neural networks,” IEEE Transactions on Neural Networks and Learning Systems, vol. 23, no. 11, pp. 1714–1725, 2012. [click]

J. Na, M. N. Mahyuddin, G. Herrmann, X. Ren, and P. Barber, “Robust adaptive finite-time parameter estimation and control for robotic systems,” International Journal of Robust & Nonlinear Control, vol. 25, no. 16, pp. 3045–3071, 2014. [click]

J. Na, X. Ren, and Y. Xia, “Adaptive parameter identification of linear siso systems with unknown time-delay,” Systems & Control Letters, vol. 66, no. 1, pp. 43–50, 2014. [click]

C. Wang and D. J. Hill, “Learning from neural control,” IEEE Transactions on Neural Networks, vol. 17, no. 1, pp. 130–146, 2006. [click]

C. Yang, X. Wang, Z. Li, Y. Li, and C.-Y. Su, “Teleoperation control based on combination of wave variable and neural networks.,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, DOI: 10.1109/TSMC.2016.2615061.

C. Yang, X. Wang, L. Cheng, and H. Ma, “Neurallearning based telerobot control with guaranteed performance.,” IEEE Transactions on Cybernetics, DOI: 10.1109/TCYB.2016.2573837.

J.-J. Slotine and W. Li, “Adaptive manipulator control a case study,” in Proc. of IEEE International Conference on Robotics and Automation. Proceedings, 1987.

C. K. Ahn, L. Wu, and P. Shi, “Stochastic stability analysis for 2-d roesser systems with multiplicative noise,” Automatica, vol. 69, pp. 356–363, 2016. [click]

C. K. Ahn, P. Shi, and M. V. Basin, “Two-dimensional dissipative control and filtering for roesser model,” IEEE Transactions on Automatic Control, vol. 60, no. 7, pp. 1745–1759, 2015. [click]

B. Xu, Q. Zhang, and Y. Pan, “Neural network based dynamic surface control of hypersonic flight dynamics using small-gain theorem,” Neurocomputing, vol. 173, no. P3, pp. 690–699, 2015. [click]

B. Xu, S. Wang, D. Gao, Y. Zhang, and Z. Shi, “Command filter based robust nonlinear control of hypersonic aircraft with magnitude constraints on states and actuators,” Journal of Intelligent & Robotic Systems, vol. 73, no. 1–4, pp. 233–247, 2014. [click]

B. Xu, “Disturbance observer based dynamic surface control of transport aircraft with continuous heavy cargo airdrop,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 47, no. 1, pp. 161–170, 2017.