Neural Control of Robot Manipulators With Trajectory Tracking Constraints and Input Saturation

doi:10.1109/TNNLS.2020.3017202

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

	Neural Control of Robot Manipulators With Trajectory Tracking Constraints and Input Saturation
	Yang, Chenguang 1; Huang, Dianye 1; He, Wei 2,3; Cheng, Long 4,5
刊名	IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
	2021-09-01
卷号	32 期号:9 页码:4231-4242
关键词	Manipulators Lyapunov methods Robot kinematics Trajectory tracking Automation Barrier Lyapunov function (BLF) constrained control input saturation robot manipulator
ISSN号	2162-237X
DOI	10.1109/TNNLS.2020.3017202
通讯作者	Yang, Chenguang(cyang@ieee.org)
英文摘要	This article presents a control scheme for the robot manipulator's trajectory tracking task considering output error constraints and control input saturation. We provide an alternative way to remove the feasibility condition that most BLF-based controllers should meet and design a control scheme on the premise that constraint violation possibly happens due to the control input saturation. A bounded barrier Lyapunov function is proposed and adopted to handle the output error constraints. Besides, to suppress the input saturation effect, an auxiliary system is designed and emerged into the control scheme. Moreover, a simplified RBFNN structure is adopted to approximate the lumped uncertainties. Simulation and experimental results demonstrate the effectiveness of the proposed control scheme.
资助项目	National Nature Science Foundation of China (NSFC)[61811530281] ; National Nature Science Foundation of China (NSFC)[61861136009] ; National Nature Science Foundation of China (NSFC)[U1913209] ; National Nature Science Foundation of China (NSFC)[61873268] ; Guangdong Regional Joint Foundation[2019B1515120076] ; Fundamental Research for the Central Universities ; Beijing Municipal Natural Science Foundation[JQ19020] ; Beijing Municipal Natural Science Foundation[L182060]
WOS关键词	NONLINEAR-SYSTEMS
WOS研究方向	Computer Science ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000692208800039
资助机构	National Nature Science Foundation of China (NSFC) ; Guangdong Regional Joint Foundation ; Fundamental Research for the Central Universities ; Beijing Municipal Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45938]
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
通讯作者	Yang, Chenguang
作者单位	1.South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510641, Guangdong, Peoples R China 2.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China 3.Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 100083, Peoples R China 4.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Yang, Chenguang,Huang, Dianye,He, Wei,et al. Neural Control of Robot Manipulators With Trajectory Tracking Constraints and Input Saturation[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2021,32(9):4231-4242.
APA	Yang, Chenguang,Huang, Dianye,He, Wei,&Cheng, Long.(2021).Neural Control of Robot Manipulators With Trajectory Tracking Constraints and Input Saturation.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,32(9),4231-4242.
MLA	Yang, Chenguang,et al."Neural Control of Robot Manipulators With Trajectory Tracking Constraints and Input Saturation".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 32.9(2021):4231-4242.