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Neural-Learning-Based Telerobot Control With Guaranteed Performance

文献类型：期刊论文

作者Yang, Chenguang1; Wang, Xinyu2,3; Cheng, Long4; Ma, Hongbin2,3
刊名IEEE TRANSACTIONS ON CYBERNETICS
出版日期2017-10-01
卷号47期号:10页码:3148-3159
关键词Collision Avoidance Guaranteed Performance Neural Networks (Nns) Telerobot Control
DOI10.1109/TCYB.2016.2573837
文献子类Article
英文摘要In this paper, a neural networks (NNs) enhanced telerobot control system is designed and tested on a Baxter robot. Guaranteed performance of the telerobot control system is achieved at both kinematic and dynamic levels. At kinematic level, automatic collision avoidance is achieved by the control design at the kinematic level exploiting the joint space redundancy, thus the human operator would be able to only concentrate on motion of robot's end-effector without concern on possible collision. A posture restoration scheme is also integrated based on a simulated parallel system to enable the manipulator restore back to the natural posture in the absence of obstacles. At dynamic level, adaptive control using radial basis function NNs is developed to compensate for the effect caused by the internal and external uncertainties, e.g., unknown payload. Both the steady state and the transient performance are guaranteed to satisfy a prescribed performance requirement. Comparative experiments have been performed to test the effectiveness and to demonstrate the guaranteed performance of the proposed methods.
WOS关键词MOBILE ROBOTS ; MANIPULATORS ; SYSTEMS
WOS研究方向Computer Science
语种英语
WOS记录号WOS:000409311800016
资助机构Engineering and Physical Sciences Research Council(EP/L026856/2 ; National Natural Science Foundation of China(61422310 ; Beijing Natural Science Foundation(4162066) ; EP/J004561/1) ; 61473038)
源URL[http://ir.ia.ac.cn/handle/173211/20004]  
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Wang, Xinyu
作者单位1.Swansea Univ, Zienkiewicz Ctr Computat Engn, Swansea SA1 8EN, W Glam, Wales
2.Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
3.Beijing Inst Technol, State Key Lab Intelligent Control & Decis Complex, Beijing 100081, Peoples R China
4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Yang, Chenguang,Wang, Xinyu,Cheng, Long,et al. Neural-Learning-Based Telerobot Control With Guaranteed Performance[J]. IEEE TRANSACTIONS ON CYBERNETICS,2017,47(10):3148-3159.
APA Yang, Chenguang,Wang, Xinyu,Cheng, Long,&Ma, Hongbin.(2017).Neural-Learning-Based Telerobot Control With Guaranteed Performance.IEEE TRANSACTIONS ON CYBERNETICS,47(10),3148-3159.
MLA Yang, Chenguang,et al."Neural-Learning-Based Telerobot Control With Guaranteed Performance".IEEE TRANSACTIONS ON CYBERNETICS 47.10(2017):3148-3159.

入库方式： OAI收割

来源：自动化研究所

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