Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics

doi:10.1109/TFUZZ.2018.2864940

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics
	Chenguang Yang; Yiming Jiang; Jing Na; Zhijun Li; Long Cheng; Chunyi Su
刊名	IEEE Transactions on Fuzzy Systems
	2018
关键词	Fuzzy logic system (FLS) dual-arm robots Uncertain kinematics Finite-Time (FT) convergence
DOI	10.1109/TFUZZ.2018.2864940
英文摘要	Control design for robots with kinematic and dynamic uncertainties has been well studied for single arm cases, but little effort has been made to dual-arm cases. Due to the strongly coupled nonlinearity of the dual-arm robot and the internal forces generated by the grasping common object, the dual-arm robot control with uncertain kinematics and dynamics becomes extremely challenging. In this paper, we developed an adaptive fuzzy control scheme for a dual arm robot in the presence of both kinematic and dynamic uncertainties. The approximate Jacobian matrix (AJM) was applied to address the uncertain kinematic control, while decentralized fuzzy logic controller (FLC) was constructed to compensate for uncertain dynamics of the robotic arms and the manipulated objects. In addition, to guarantee the finite time convergence of the estimated parameters, a novel finite-time convergence parameter adaptation (FCPA) technique was developed for the estimation of kinematic parameters and fuzzy logic weights. The estimated parameters were guaranteed to converge to small neighborhoods around their ideal values in a finite time, which enables the designer to re-use these learned weight values next time without relearning. In addition, a partial persistent excitation (PPE) property of Gaussian membership based fuzzy basis function (GFBF) was established, such that the condition of the conventional persistent excitation (PE) is relaxed. Extensive simulation studies have been carried out based on a dual-arm robot to illustrate the effectiveness and efficiency of the proposed approach.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/23167]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
推荐引用方式 GB/T 7714	Chenguang Yang, Yiming Jiang, Jing Na,et al. Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics[J]. IEEE Transactions on Fuzzy Systems,2018.
APA	Chenguang Yang, Yiming Jiang, Jing Na, Zhijun Li, Long Cheng,& Chunyi Su.(2018).Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics.IEEE Transactions on Fuzzy Systems.
MLA	Chenguang Yang,et al."Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics".IEEE Transactions on Fuzzy Systems (2018).