Tracking of Uncertain Robotic Manipulators Using Event-Triggered Model Predictive Control With Learning Terminal Cost
文献类型：期刊论文
| 作者 | Kang, Erlong3,4,5 ; Qiao, Hong1,2,5; Chen, Ziyu3,5; Gao, Jie3,4,5
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| 刊名 | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
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| 出版日期 | 2022-03-03 |
| 页码 | 15 |
| 关键词 | Robots Costs Predictive models Optimization Stability analysis Manipulator dynamics Predictive control Model predictive control robotic manipulator leaning terminal cost neural networks event-triggered mechanism unknown dynamics |
| ISSN号 | 1545-5955 |
| DOI | 10.1109/TASE.2022.3152166 |
| 通讯作者 | Qiao, Hong(hong.qiao@ia.ac.cn) |
| 英文摘要 | This paper presents an event-triggered model predictive control (MPC) strategy with learning terminal cost for robotic manipulators containing model uncertainty and input constraints. In the proposed MPC structure, an adaptive predictive model for the robotic system is established by radial basis function neural networks (RBFNNs) firstly. Then, a terminal cost adjusted by the global learning mechanism is constructed. Both global steady-state optimization and transient fast convergence are achieved by adding the learning terminal cost to the MPC scheme. After that, a triggering condition of the MPC solving is developed based on the predictive model's weights and the predictive tracking error. Besides, the condition to avoid Zeno behavior is obtained. The recursive feasibility of the proposed MPC strategy is verified, and the ultimately uniformly boundedness (UUB) of all variables is proved according to the Lyapunov theorem. Finally, experiments based on an xMate7 Pro robot are conducted to demonstrate the effectiveness of the presented method. |
| WOS关键词 | ROBUST TRAJECTORY TRACKING ; DYNAMICS ; MPC |
| 资助项目 | National Natural Science Foundation of China[91948303] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32050100] ; Development of Science and Technology of Guangdong Province Special Fund Project[2016B090910001] |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| WOS记录号 | WOS:000767816400001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Strategic Priority Research Program of Chinese Academy of Science ; Development of Science and Technology of Guangdong Province Special Fund Project |
| 源URL | [http://ir.ia.ac.cn/handle/173211/48053]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 通讯作者 | Qiao, Hong |
| 作者单位 | 1.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Beijing Key Lab Res & Applicat Robot Intelligence, Beijing 100190, Peoples R China 4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 5.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Kang, Erlong,Qiao, Hong,Chen, Ziyu,et al. Tracking of Uncertain Robotic Manipulators Using Event-Triggered Model Predictive Control With Learning Terminal Cost[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2022:15. |
| APA | Kang, Erlong,Qiao, Hong,Chen, Ziyu,&Gao, Jie.(2022).Tracking of Uncertain Robotic Manipulators Using Event-Triggered Model Predictive Control With Learning Terminal Cost.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,15. |
| MLA | Kang, Erlong,et al."Tracking of Uncertain Robotic Manipulators Using Event-Triggered Model Predictive Control With Learning Terminal Cost".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2022):15. |
入库方式： OAI收割
来源：自动化研究所
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