Torque Sensorless Force/position Decentralized Control for Constrained Reconfigurable Manipulator with Harmonic Drive Transmission
文献类型：期刊论文
| 作者 | Zhou, Fan2; Dong, Bo1,2 ; Li, Yuanchun2,3
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| 刊名 | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
 |
| 出版日期 | 2017-10-01 |
| 卷号 | 15期号:5页码:2364-2375 |
| 关键词 | Constrained reconfigurable manipulator dynamic output feedback force/position decentralized control harmonic drive linear matrix inequality (LMI) |
| ISSN号 | 1598-6446 |
| DOI | 10.1007/s12555-016-0248-7 |
| 通讯作者 | Li, Yuanchun(liyc@ccut.edu.cn) |
| 英文摘要 | The difficulty of addressing the decentralized control problem for a torque sensorless constrained reconfigurable manipulator is associated with decentralized control of the constraint force. This paper studies the force/position decentralized robust control problem for constrained reconfigurable manipulator system with parameter perturbation and unmodeled dynamics. A joint torque estimation scheme based on the motor-side and link-side position measurements along with harmonic drive model is deployed for each joint module. Subsequently, radial basis function (RBF) neural network is applied to compensate the unmodeled dynamics and unknown terms of subsystem, simultaneously. Furthermore, a decentralized force/position robust controller is designed by combining the estimated joint torque with the dynamic output feedback control method. The stability of closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, simulations are performed to verify the advantage of the proposed method. |
| WOS关键词 | OUTPUT-FEEDBACK CONTROL ; FAULT-TOLERANT CONTROL ; TIME-DELAY SYSTEMS ; NONLINEAR-SYSTEMS ; ROBOTIC SYSTEMS ; TELEOPERATION ; TRACKING ; DESIGN ; INPUT |
| 资助项目 | National Natural Science Foundation of China[61374051] ; National Natural Science Foundation of China[60974010] ; Scientific and Technological Development Plan Project in Jilin Province of China[20160414033GH] ; Scientific and Technological Development Plan Project in Jilin Province of China[20160520013JH] |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| WOS记录号 | WOS:000412845300040 |
| 出版者 | INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS |
| 资助机构 | National Natural Science Foundation of China ; Scientific and Technological Development Plan Project in Jilin Province of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28039]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室 |
| 通讯作者 | Li, Yuanchun |
| 作者单位 | 1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing, Peoples R China 2.Changchun Univ Technol, Dept Control Sci & Engn, Changchun, Jilin, Peoples R China 3.Jilin Univ, Dept Control Sci & Engn, Changchun, Jilin, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhou, Fan,Dong, Bo,Li, Yuanchun. Torque Sensorless Force/position Decentralized Control for Constrained Reconfigurable Manipulator with Harmonic Drive Transmission[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,2017,15(5):2364-2375. |
| APA | Zhou, Fan,Dong, Bo,&Li, Yuanchun.(2017).Torque Sensorless Force/position Decentralized Control for Constrained Reconfigurable Manipulator with Harmonic Drive Transmission.INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,15(5),2364-2375. |
| MLA | Zhou, Fan,et al."Torque Sensorless Force/position Decentralized Control for Constrained Reconfigurable Manipulator with Harmonic Drive Transmission".INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 15.5(2017):2364-2375. |
入库方式： OAI收割
来源：自动化研究所
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