Neural Control of Robot Manipulators With Trajectory Tracking Constraints and Input Saturation
文献类型：期刊论文
| 作者 | Yang, Chenguang1; Huang, Dianye1; He, Wei2,3; Cheng, Long4,5
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| 刊名 | IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
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| 出版日期 | 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. |
| WOS关键词 | NONLINEAR-SYSTEMS |
| 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研究方向 | Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000692208800039 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 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 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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