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| Content Provider | IET Digital Library |
|---|---|
| Author | Jia, Lin Wang, Yaonan Zhang, Changfan Zhao, Kaihui Zhou, Langming |
| Abstract | Here, a robust adaptive trajectory tracking algorithm is proposed for free-form surface grinding robot (FSGR) in metal surface production line. Machine-learning method is used for robot dynamic approximation which is hard to obtain directly. Adaptive law is proposed to adjust the neural network parameters. Sliding-mode control is employed to deal with the disturbance, joint friction, and approximation error of the adaptive machine learning. The scheme based on machine-learning feedforward compensation can significantly reduce the chattering of sliding mode. The performance of the proposed control scheme is illustrated through simulations. |
| Starting Page | 9220 |
| Ending Page | 9225 |
| Page Count | 6 |
| Volume Number | 2019 |
| e-ISSN | 20513305 |
| Issue Number | Issue 23, Dec (2019) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/joe/2019/23 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/joe.2018.9220 |
| Journal | The Journal of Engineering |
| Publisher | The Institution of Engineering and Technology |
| Publisher Date | 2019-03-25 |
| Access Restriction | Open |
| Rights License | Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/) |
| Subject Keyword | Adaptive Control Adaptive Law Adaptive Machine Learning Approximation Error Compensation Control Application in Machining Processes And Machine Tools Feedforward Free-form Surface FSGR Grinding Learning System Machine-learning Feedforward Compensation Machining Metal Surface Production Line Multivariable Control System Neural Network Parameter Neurocontrollers Robot And Manipulator Mechanics Robot Dynamic Approximation Robot Dynamics Robotics Robust Adaptive Trajectory Tracking Algorithm Robust Control Robust Trajectory Tracking Control Self Adjusting Control System Sliding-mode Control Spatial Variables Control Stability in Control Theory Trajectory Control Variable Structure System |
| Content Type | Text |
| Resource Type | Article |
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