Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion
文献类型：期刊论文
| 作者 | Sun, Tairen1; Peng, Liang1 ; Cheng, Long1,2; Hou, Zeng-Guang1,2,3; Pan, Yongping4
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| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
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| 出版日期 | 2021-07-01 |
| 卷号 | 51期号:7页码:4193-4200 |
| 关键词 | Approximate dynamic inversion (ADI) impedance control robot control trajectory tracking variable impedance |
| ISSN号 | 2168-2216 |
| DOI | 10.1109/TSMC.2019.2930582 |
| 通讯作者 | Hou, Zeng-Guang(zengguang.hou@ia.ac.cn) |
| 英文摘要 | Variable impedance control has been considered as one of the most important compliant control approaches for its abilities in improving compliance, safety, and efficiency in robot-environment interaction. However, existing variable impedance controllers have deficits in stability guarantee. This article proposes a stability-guaranteed variable impedance control approach for robots with modeling uncertainties based on approximate dynamic inversion (ADI). Novel constraints on variable impedance profiles are given to guarantee the exponential stability of the desired variable impedance dynamics. An ADI-based impedance control law is designed to achieve the desired variable impedance dynamics through the convergence of a variable impedance error. Based on the extended Tikhonovs theorem, it is proven that the closed-loop control system has semiglobal practical exponential stability. The proposed impedance controller can be implemented in a PID form and is appealing for its simple structure, easy implementation, and control stability guarantee. The effectiveness of the proposed variable impedance controller is illustrated by an illustrative example taken on a five-bar parallel robot. |
| WOS关键词 | MANIPULATION |
| 资助项目 | National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[61533016] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[61603386] ; Beijing Natural Science Foundation[L172050] ; Beijing Natural Science Foundation[L182060] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32040000] ; China Post-Doctoral Science Foundation[2018M642190] ; China Post-Doctoral Science Foundation[2019T120405] |
| WOS研究方向 | Automation & Control Systems ; Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000672729600017 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Strategic Priority Research Program of Chinese Academy of Science ; China Post-Doctoral Science Foundation |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45528]  |
| 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, Zeng-Guang |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Beijing 100190, Peoples R China 4.Sun Yat Sen Univ, Sch Data & Comp Sci, Guangzhou 510006, Peoples R China |
| 推荐引用方式 GB/T 7714 | Sun, Tairen,Peng, Liang,Cheng, Long,et al. Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021,51(7):4193-4200. |
| APA | Sun, Tairen,Peng, Liang,Cheng, Long,Hou, Zeng-Guang,&Pan, Yongping.(2021).Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,51(7),4193-4200. |
| MLA | Sun, Tairen,et al."Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 51.7(2021):4193-4200. |
入库方式： OAI收割
来源：自动化研究所
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