NDLI: Neural adaptive control for robots with uncertainties in manipulator dynamics and actuator dynamics under constrained task space

Content Provider	IEEE Xplore Digital Library
Author	Zhong-Liang Tang Shuzhi Sam Ge Wei He
Copyright Year	2015
Description	Author affiliation: Social Robot. Lab., Nat. Univ. of Singapore, Singapore, Singapore (Shuzhi Sam Ge) \|\| Center for Robot. & Sch. of Comput. Sci. & Eng., Univ. of Electron. Sci. & Technol. of China, Chengdu, China (Zhong-Liang Tang) \|\| Center for Robot. & Sch. of Autom. Eng., Univ. of Electron. Sci. & Technol. of China, Chengdu, China (Wei He)
Abstract	Driven by the needs of safe human-robot interaction, this paper presents control designs for tracking control of robot system with uncertain manipulator dynamics and joint actuator dynamics subject to constrained task space. The integral Barrier Lyapunov Functional (iBLF) is employed to guarantee the constraint satisfaction, in which a conservative mapping of original constraint into new constraints on tracking errors is removed. Neural Networks (NN) are adopted to approximate the unknown packaged terms in desired control. Appropriate adapting parameters are constructed to estimate the unknown bounds on NN approximation. It is proved that the task space vector of end-effector converge to a small neighborhood around a desired trajectory without violating the predefined constrained region. Simulation results are provided to illustrate the performance of proposed control.
Starting Page	5824
Ending Page	5829
File Size	480761
Page Count	6
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260550
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Actuators Control design Artificial neural networks Aerospace electronics Safe Interaction Neural Networks Constrained Task Space Barrier Lyapunov Function Robot Manipulator dynamics
Content Type	Text
Resource Type	Article

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