Tracking Control of a Closed-Chain Five-Bar Robot With Two Degrees of Freedom by Integration of an Approximation-Based Approach and Mechanical Design
文献类型：期刊论文
| 作者 | Cheng, Long1 ; Hou, Zeng-Guang1; Tan, Min1; Zhang, W. J.2
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| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
 |
| 出版日期 | 2012-10-01 |
| 卷号 | 42期号:5页码:1470-1479 |
| 关键词 | Adaptive backstepping closed-chain robot design neural network tracking transient performance. |
| 英文摘要 | The trajectory tracking problem of a closed-chain five-bar robot is studied in this paper. Based on an error transformation function and the backstepping technique, an approximation-based tracking algorithm is proposed, which can guarantee the control performance of the robotic system in both the stable and transient phases. In particular, the overshoot, settling time, and final tracking error of the robotic system can be all adjusted by properly setting the parameters in the error transformation function. The radial basis function neural network (RBFNN) is used to compensate the complicated nonlinear terms in the closed-loop dynamics of the robotic system. The approximation error of the RBFNN is only required to be bounded, which simplifies the initial "trail-and-error" configuration of the neural network. Illustrative examples are given to verify the theoretical analysis and illustrate the effectiveness of the proposed algorithm. Finally, it is also shown that the proposed approximation-based controller can be simplified by a smart mechanical design of the closed-chain robot, which demonstrates the promise of the integrated design and control philosophy. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics |
| 研究领域[WOS] | Automation & Control Systems ; Computer Science |
| 关键词[WOS] | ROBUST ADAPTIVE-CONTROL ; MIMO NONLINEAR-SYSTEMS ; PRESCRIBED PERFORMANCE ; PARALLEL ROBOT ; MANIPULATORS ; DYNAMICS ; FEEDBACK ; MACHINE |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000308995500013 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3483]  |
| 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 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada |
| 推荐引用方式 GB/T 7714 | Cheng, Long,Hou, Zeng-Guang,Tan, Min,et al. Tracking Control of a Closed-Chain Five-Bar Robot With Two Degrees of Freedom by Integration of an Approximation-Based Approach and Mechanical Design[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,2012,42(5):1470-1479. |
| APA | Cheng, Long,Hou, Zeng-Guang,Tan, Min,&Zhang, W. J..(2012).Tracking Control of a Closed-Chain Five-Bar Robot With Two Degrees of Freedom by Integration of an Approximation-Based Approach and Mechanical Design.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,42(5),1470-1479. |
| MLA | Cheng, Long,et al."Tracking Control of a Closed-Chain Five-Bar Robot With Two Degrees of Freedom by Integration of an Approximation-Based Approach and Mechanical Design".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 42.5(2012):1470-1479. |
入库方式： OAI收割
来源：自动化研究所
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