Tracking Control of a Closed-Chain Five-Bar Robot With Two Degrees of Freedom by Integration of an Approximation-Based Approach and Mechanical Design
作者： Long Cheng , Zeng-Guang Hou , Min Tan , W. J. Zhang
DOI: 10.1109/TSMCB.2012.2192270
关键词:
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, approximation-based algorithm proposed, which can guarantee control performance robotic system both stable transient phases. In particular, overshoot, settling time, final be all adjusted by properly setting parameters function. radial basis neural network (RBFNN) used to compensate complicated nonlinear terms closed-loop dynamics system. approximation RBFNN only required bounded, simplifies initial “trail-and-error” configuration network. Illustrative examples are given verify theoretical analysis illustrate effectiveness proposed algorithm. Finally, it also shown that controller simplified smart mechanical design robot, demonstrates promise integrated philosophy.
irgrid.ac.cn参考文章(29)
Long Cheng, Yingzi Lin, Zeng-Guang Hou, Min Tan, Jian Huang, W. J. Zhang, Integrated Design of Machine Body and Control Algorithm for Improving the Robustness of a Closed-Chain Five-Bar Machine IEEE-ASME Transactions on Mechatronics. ,vol. 17, pp. 587- 591 ,(2012) , 10.1109/TMECH.2012.2183378
Long Cheng, Zeng-Guang Hou, Min Tan, Yingzi Lin, Wenjun Zhang, Neural-Network-Based Adaptive Leader-Following Control for Multiagent Systems With Uncertainties IEEE Transactions on Neural Networks. ,vol. 21, pp. 1351- 1358 ,(2010) , 10.1109/TNN.2010.2050601
Weiwei Shang, Shuang Cong, Nonlinear computed torque control for a high-speed planar parallel manipulator Mechatronics. ,vol. 19, pp. 987- 992 ,(2009) , 10.1016/J.MECHATRONICS.2009.04.002
Xiaocong Zhu, Guoliang Tao, Bin Yao, Jian Cao, Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles Automatica. ,vol. 44, pp. 2248- 2257 ,(2008) , 10.1016/J.AUTOMATICA.2008.01.015
Y.X. Su, C.H. Zheng, B.Y. Duan, Fuzzy learning tracking of a parallel cable manipulator for the square kilometre array Mechatronics. ,vol. 15, pp. 731- 746 ,(2005) , 10.1016/J.MECHATRONICS.2004.12.001
Q Li, FX Wu, None, Control performance improvement of a parallel robot via the design for control approach Mechatronics. ,vol. 14, pp. 947- 964 ,(2004) , 10.1016/J.MECHATRONICS.2004.04.002
Y. Amirat, C. Francois, G. Fried, J. Pontnau, M. Dafaoui, Design and control of a new six DOF parallel robot: Application to equestrian gait simulation Mechatronics. ,vol. 6, pp. 227- 239 ,(1996) , 10.1016/0957-4158(95)00068-2
Long Cheng, Zeng-Guang Hou, Min Tan, Brief paper: Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model Automatica. ,vol. 45, pp. 2312- 2318 ,(2009) , 10.1016/J.AUTOMATICA.2009.06.007
F. X. Wu, W. J. Zhang, Q. Li, P. R. Ouyang, Integrated design and PD Control of high-speed closed-loop mechanisms Journal of Dynamic Systems Measurement and Control-transactions of The Asme. ,vol. 124, pp. 522- 528 ,(2002) , 10.1115/1.1513179
P.R. Ouyang, Q. Li, W.J. Zhang, L.S. Guo, Design, modeling and control of a hybrid machine system Mechatronics. ,vol. 14, pp. 1197- 1217 ,(2004) , 10.1016/J.MECHATRONICS.2004.06.004