动态受限机械臂的局部加权学习控制
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摘要
针对带有状态和输入约束的机械臂不确定系统模型,提出了基于障碍李雅普诺夫函数的局部加权学习控制方法。将系统控制输入看作扩展状态,从而将该控制问题转化为带有扩展状态约束的不确定非线性系统控制问题。将障碍李雅普诺夫函数引入到反步法,设计局部加权学习控制,保证障碍李雅普诺夫函数指数收敛到零点一个小邻域,进而保证了系统状态、输入约束的满足和跟踪误差的收敛。通过理论分析和仿真实验验证了所设计控制器的可行性和有效性。
This paper proposes a locally weighted learning control law for a manipulator with state and input constraints and modeling uncertainties. By visualizing the control input as an extended state, the control problem is converted into control design for a state-constraint uncertain nonlinear system. Barrier Lyapunov functions are introduced into a backstepping procedure and a locally weighted learning control is designed, which ensures the exponential convergence of the barrier functions to a small neighborhood of zero and then guarantees satisfaction of system constraints and the tracking error convergence. The control feasibility and effectiveness is validated by theoretical analysis and simulation results.
This paper proposes a locally weighted learning control law for a manipulator with state and input constraints and modeling uncertainties. By visualizing the control input as an extended state, the control problem is converted into control design for a state-constraint uncertain nonlinear system. Barrier Lyapunov functions are introduced into a backstepping procedure and a locally weighted learning control is designed, which ensures the exponential convergence of the barrier functions to a small neighborhood of zero and then guarantees satisfaction of system constraints and the tracking error convergence. The control feasibility and effectiveness is validated by theoretical analysis and simulation results.
引文
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[9]曹鹏飞,甘亚辉,戴先中,等.物理受限冗余机械臂运动学凸优化求解[J].机器人,2016,38(3):257-264.Cao Pengfei,Gan Yahui,Dai Xianzhong,et al.Convex Optimization Solution for Inverse Kinematics of a Physically Constrained Redundant Manipulator[J].Robot,2016,38(3):257-264.
[10]Subudhi B,Pradhan S K.Direct Adaptive Control of a Flexible Robot Using Reinforcement Learning[C].International Conference on Industrial Electronics,Control&Robotics.Xi’an:IEEE Press,2016:27-29.
[11]He W,Chen Y,Yin Z.Adaptive Neural Network Control of an Uncertain Robot with Full-state Constraints[J].IEEE T Cybernetics(S2168-2267),2015,46(3):620-629.
[12]He W,David A O,Yin Z.Neural Network Control of a Robotic Manipulator with Input Deadzone and Output Constraint[J].IEEE T SYST MAN CY-S(S2168-2216),2016,46(6):759-770.
[13]Liu Y J,Li J,Tong S.Neural Nework Control-based Adaptive Learning Design for Nonlinear Systems with Full-state Constraints[J].IEEE T NEUR NET LEAR(S2162-237X),2016,27(7):1562-1570.
[2]庄未,刘晓平.多连杆柔性关节机械臂的神经滑膜控制[J].系统仿真学报,2011,23(10):2098-2102.Zhuang Wei,Liu Xiaoping.Neural Sliding Mode Control of Multiple-link Flexible Joint Manipulator[J].Journal of System Simulation,2011,23(10):2098-2102.
[3]过希文,王群京,李国丽.基于动态面的机械臂轨迹跟踪神经网络自适应算法[J].系统仿真学报,2011,23(11):2327-2332.Guo Xiwen,Wang Qunjing,Li Guoli.Dynamic Surface Based Neural Network Adaptive Algorithm for Robot Manipulation Trajectory Tracking[J].Journal of System Simulation,2011,23(11):2327-2332.
[4]Li T,Duan S,Liu J.A Spintronic Memristor-based Neural Network with Radial Basis Function for Robotic Manipulator Control Implementation[J].IEEE T Syst Man Cy-S(S2168-2216),2016,46(4):582-588.
[5]黄登峰,陈力.柔性空间机械臂的模糊控制及抑振最优控制[J].系统仿真学报,2012,24(12):116-120.Huang Dengfeng,Chen Li.Fuzzy Control and Vibration Suppression Optimal Control for Space Flexible Manipulator[J].Journal of System Simulation,2012,24(12):116-120.
[6]Seo D.Adaptive Control for Robot Manipulator with Guaranteed Transient Performance[C].IEEE 55th Conference on Decision and Control,Las Vegas:IEEEPress,2016:2109-2114.
[7]Ngo K B,Mahony R.Bounded Torque Control for Robot Manipulators Subject to Joint Velocity constraints[C].IEEE International Conference on Robotics and Automation,Stockholm:IEEE Press,2006:7-12.
[8]Papageorgiou X,Kyriakopoulos K J.Motion Tasks for Robot Manipulators Subject to Joint Velocity Constraints[C].IEEE/RSJ International Conference on Intelligent Robots and Systems,Nice:IEEE Press,2008:2139-2144.
[9]曹鹏飞,甘亚辉,戴先中,等.物理受限冗余机械臂运动学凸优化求解[J].机器人,2016,38(3):257-264.Cao Pengfei,Gan Yahui,Dai Xianzhong,et al.Convex Optimization Solution for Inverse Kinematics of a Physically Constrained Redundant Manipulator[J].Robot,2016,38(3):257-264.
[10]Subudhi B,Pradhan S K.Direct Adaptive Control of a Flexible Robot Using Reinforcement Learning[C].International Conference on Industrial Electronics,Control&Robotics.Xi’an:IEEE Press,2016:27-29.
[11]He W,Chen Y,Yin Z.Adaptive Neural Network Control of an Uncertain Robot with Full-state Constraints[J].IEEE T Cybernetics(S2168-2267),2015,46(3):620-629.
[12]He W,David A O,Yin Z.Neural Network Control of a Robotic Manipulator with Input Deadzone and Output Constraint[J].IEEE T SYST MAN CY-S(S2168-2216),2016,46(6):759-770.
[13]Liu Y J,Li J,Tong S.Neural Nework Control-based Adaptive Learning Design for Nonlinear Systems with Full-state Constraints[J].IEEE T NEUR NET LEAR(S2162-237X),2016,27(7):1562-1570.