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Saturated Neural Adaptive Robust Output Feedback Control of Robot Manipulators:An Experimental Comparative Study | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 8، دوره 49، شماره 2، اسفند 2017، صفحه 199-208 اصل مقاله (5.34 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2017.12177.5010 | ||
| نویسندگان | ||
| M. Pourrahim؛ K. Shojaei* ؛ A. Chatraei؛ O. Shahnazari | ||
| Dept. of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran | ||
| چکیده | ||
| In this study, an observer-based tracking controller is proposed and evaluated experimentally to solve the trajectory tracking problem of robotic manipulators with the torque saturation in the presence of model uncertainties and external disturbances. In comparison with the state-of-the-art observer-based controllers in the literature, this paper introduces a saturated observer-based controller based on a radial basis function neural network. This technique helps the controller produce feasible control signals for the robot actuators. As a result, it efficiently diminishes the actuators saturation risk and consequently, a better transient performance is obtained. The stability analyses of the dynamics of the tracking errors and state estimation errors are given with the help of a Lyapunov-based stability analysis method. The theoretical analyses will systematically prove that the errors are semi-globally uniformly ultimately bounded and they converge to a small set around the origin whose size is adjustable by a suitable tuning of parameters. At last, some real experiments are performed on a laboratory robotic arm to illustrate the efficiency of the proposed control system for real industrial applications. | ||
تازه های تحقیق | ||
[1] H. Berghuis, H. Nijmeijer, A passivity approach to controller-observer design for robots, IEEE Transactions on robotics and automation, 9(6) (1993) 740-754. [2] M.A. Arteaga, R. Kelly, Robot control without velocity measurements: New theory and experimental results, IEEE Transactions on Robotics and Automation, 20(2) (2004) 297-308. [3] D.J. López-Araujo, A. Zavala-Río, V. Santibáñez, F. Reyes, Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs, International Journal of Control, Automation and Systems, 11(1) (2013) 105-115. [4] M. Mendoza, A. Zavala-Río, V. Santibáñez, F. Reyes, Output-feedback proportional–integral–derivative-type control with simple tuning for the global regulation of robot manipulators with input constraints, IET Control Theory & Applications, 9(14) (2015) 2097-2106. [5] W.E. Dixon, Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics, IEEE Transactions on Automatic Control, 52(3) (2007) 488-493. [6] C. Huang, X. Peng, C. Jia, J. Huang, Guaranteed robustness/performance adaptive control with limited torque for robot manipulators, Mechatronics, 18(10) (2008) 641-652. [7] W.E. Dixon, M.S. de Queiroz, F. Zhang, D.M. Dawson, Tracking control of robot manipulators with bounded torque inputs, Robotica, 17(2) (1999) 121-129. [8] E. Aguiñaga-Ruiz, A. Zavala-Río, V. Santibanez, F. Reyes, Global trajectory tracking through static feedback for robot manipulators with bounded inputs, IEEE Transactions on Control Systems Technology, 17(4) (2009) 934-944. [9] A. Laib, Adaptive output regulation of robot manipulators under actuator constraints, IEEE Transactions on Robotics and Automation, 16(1) (2000) 29-35. [10] Y. Su, P.C. Muller, C. Zheng, Global asymptotic saturated PID control for robot manipulators, IEEE Transactions on Control Systems Technology, 18(6) (2010) 1280-1288. [11] V. Santibañez, K. Camarillo, J. Moreno-Valenzuela, R. Campa, A practical PID regulator with bounded torques for robot manipulators, International Journal of Control, Automation and Systems, 8(3) (2010) 544-555. [12] A. Loria, R. Kelly, R. Ortega, V. Santibanez, On global output feedback regulation of Euler-Lagrange systems with bounded inputs, IEEE Transactions on Automatic Control, 42(8) (1997) 1138-1143. [13] J. Moreno-Valenzuela, V. Santibáñez, R. Campa, On output feedback tracking control of robot manipulators with bounded torque input, International Journal of Control, Automation, and Systems, 6(1) (2008) 76-85.
[14] F.L. Lewis, D.M. Dawson, C.T. Abdallah, Robot manipulator control: theory and practice, CRC Press, 2003. [15] M.W. Spong, S. Hutchinson, M. Vidyasagar, Robot modeling and control, Wiley New York, 2006. [16] P.A. Ioannou, J. Sun, Robust adaptive control, PTR Prentice-Hall Upper Saddle River, NJ, 1996. [17] B. Yao, Adaptive robust control of nonlinear systems with application to control of mechanical systems, University of California, Berkeley, 1996. [18] L. Xu, B. Yao, Output feedback adaptive robust precision motion control of linear motors, Automatica, 37(7) (2001) 1029-1039. [19] K. Shojaei, A. Chatraei, A Saturating Extension of an Output Feedback Controller for Internally Damped Euler‐Lagrange Systems, Asian Journal of Control, 17(6) (2015) 2175-2187. [20] M. Pourrahim, K. Shojaei, A. Chatraei, O.S. Nazari, Experimental evaluation of a saturated output feedback controller using RBF neural networks for SCARA robot IBM 7547, in: Electrical Engineering (ICEE), 2016 24th Iranian Conference on, IEEE, 2016, pp. 1347-1352. | ||
| کلیدواژهها | ||
| Actuator saturation؛ Adaptive robust control؛ Observer-based control؛ RBF neural networks؛ Robot manipulators | ||
| مراجع | ||
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[1] H. Berghuis, H. Nijmeijer, A passivity approach to controller-observer design for robots, IEEE Transactions on robotics and automation, 9(6) (1993) 740-754.
[2] M.A. Arteaga, R. Kelly, Robot control without velocity measurements: New theory and experimental results, IEEE Transactions on Robotics and Automation, 20(2) (2004) 297-308.
[3] D.J. López-Araujo, A. Zavala-Río, V. Santibáñez, F. Reyes, Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs, International Journal of Control, Automation and Systems, 11(1) (2013) 105-115.
[4] M. Mendoza, A. Zavala-Río, V. Santibáñez, F. Reyes, Output-feedback proportional–integral–derivative-type control with simple tuning for the global regulation of robot manipulators with input constraints, IET Control Theory & Applications, 9(14) (2015) 2097-2106.
[5] W.E. Dixon, Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics, IEEE Transactions on Automatic Control, 52(3) (2007) 488-493.
[6] C. Huang, X. Peng, C. Jia, J. Huang, Guaranteed robustness/performance adaptive control with limited torque for robot manipulators, Mechatronics, 18(10) (2008) 641-652.
[7] W.E. Dixon, M.S. de Queiroz, F. Zhang, D.M. Dawson, Tracking control of robot manipulators with bounded torque inputs, Robotica, 17(2) (1999) 121-129.
[8] E. Aguiñaga-Ruiz, A. Zavala-Río, V. Santibanez, F. Reyes, Global trajectory tracking through static feedback for robot manipulators with bounded inputs, IEEE Transactions on Control Systems Technology, 17(4) (2009) 934-944.
[9] A. Laib, Adaptive output regulation of robot manipulators under actuator constraints, IEEE Transactions on Robotics and Automation, 16(1) (2000) 29-35.
[10] Y. Su, P.C. Muller, C. Zheng, Global asymptotic saturated PID control for robot manipulators, IEEE Transactions on Control Systems Technology, 18(6) (2010) 1280-1288.
[11] V. Santibañez, K. Camarillo, J. Moreno-Valenzuela, R. Campa, A practical PID regulator with bounded torques for robot manipulators, International Journal of Control, Automation and Systems, 8(3) (2010) 544-555.
[12] A. Loria, R. Kelly, R. Ortega, V. Santibanez, On global output feedback regulation of Euler-Lagrange systems with bounded inputs, IEEE Transactions on Automatic Control, 42(8) (1997) 1138-1143.
[13] J. Moreno-Valenzuela, V. Santibáñez, R. Campa, On output feedback tracking control of robot manipulators with bounded torque input, International Journal of Control, Automation, and Systems, 6(1) (2008) 76-85.
[14] F.L. Lewis, D.M. Dawson, C.T. Abdallah, Robot manipulator control: theory and practice, CRC Press, 2003.
[15] M.W. Spong, S. Hutchinson, M. Vidyasagar, Robot modeling and control, Wiley New York, 2006.
[16] P.A. Ioannou, J. Sun, Robust adaptive control, PTR Prentice-Hall Upper Saddle River, NJ, 1996.
[17] B. Yao, Adaptive robust control of nonlinear systems with application to control of mechanical systems, University of California, Berkeley, 1996.
[18] L. Xu, B. Yao, Output feedback adaptive robust precision motion control of linear motors, Automatica, 37(7) (2001) 1029-1039.
[19] K. Shojaei, A. Chatraei, A Saturating Extension of an Output Feedback Controller for Internally Damped Euler‐Lagrange Systems, Asian Journal of Control, 17(6) (2015) 2175-2187.
[20] M. Pourrahim, K. Shojaei, A. Chatraei, O.S. Nazari, Experimental evaluation of a saturated output feedback controller using RBF neural networks for SCARA robot IBM 7547, in: Electrical Engineering (ICEE), 2016 24th Iranian Conference on, IEEE, 2016, pp. 1347-1352. | ||
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