Learning impedance control of robots with enhanced transient and steady-state control performances
文献类型：期刊论文
| 作者 | Sun, Tairen2; Cheng, Long2 ; Peng, Liang2; Hou, Zengguang2; Pan, Yongping1
|
| 刊名 | SCIENCE CHINA-INFORMATION SCIENCES
 |
| 出版日期 | 2020-07-24 |
| 卷号 | 63期号:9页码:13 |
| 关键词 | robot adaptive control neural network impedance control parameter convergence |
| ISSN号 | 1674-733X |
| DOI | 10.1007/s11432-019-2639-6 |
| 通讯作者 | Hou, Zengguang(zengguang.hou@ia.ac.cn) |
| 英文摘要 | This study proposes a learning impedance controller comprising a proportional feedback control term, a composite-learning-based uncertainty estimation term, and a robot-environment interaction control term. The impedance control problem is converted into a particular reference-trajectory tracking problem based on a generated reference trajectory. The proposed controller ensures the exponential convergence of the auxiliary tracking error and the uncertainty estimation error. The interaction control term improves the transient control performance through suppression/encouragement of the incorrect/correct robot movements. The composite-learning update law enhances the transient and steady-state control performances based on the exponential convergence of the uncertainty estimation error and auxiliary tracking error. Finally, the effectiveness and advantages of the proposed impedance controller are validated by theoretical analysis and simulations on a parallel robot. |
| 资助项目 | National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[61633016] ; Beijing Natural Science Foundation[L182060] ; Strategic Priority Research Program of Chinese Academy of Sciences[XDB32040000] ; China Postdoctoral Science Foundation[2019T120405] |
| WOS研究方向 | Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000556903000001 |
| 出版者 | SCIENCE PRESS |
| 资助机构 | National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Strategic Priority Research Program of Chinese Academy of Sciences ; China Postdoctoral Science Foundation |
| 源URL | [http://ir.ia.ac.cn/handle/173211/40360]  |
| 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 | Hou, Zengguang |
| 作者单位 | 1.Sun Yat Sen Univ, Sch Data & Comp Sci, Guangzhou 510006, Peoples R China 2.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 | Sun, Tairen,Cheng, Long,Peng, Liang,et al. Learning impedance control of robots with enhanced transient and steady-state control performances[J]. SCIENCE CHINA-INFORMATION SCIENCES,2020,63(9):13. |
| APA | Sun, Tairen,Cheng, Long,Peng, Liang,Hou, Zengguang,&Pan, Yongping.(2020).Learning impedance control of robots with enhanced transient and steady-state control performances.SCIENCE CHINA-INFORMATION SCIENCES,63(9),13. |
| MLA | Sun, Tairen,et al."Learning impedance control of robots with enhanced transient and steady-state control performances".SCIENCE CHINA-INFORMATION SCIENCES 63.9(2020):13. |
入库方式： OAI收割
来源：自动化研究所
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