COMBINED ADAPTIVE-ROBUST AND NEURAL NETWORK CONTROL OF TWO RLED COOPERATING ROBOTS USING BACKSTEPPING DESIGN

H. Jafarian, M. Eghtesad, and A. Tavasoli

References

  1. [1] S. Hayati, Hybrid position-force control of multi-arm cooperat-ing robots, Proc. IEEE Int. Conf. on Robotics and Automation,San Francisco, California, USA, 1986, 82–89. doi:10.1109/ROBOT.1986.1087650
  2. [2] M.H. Raibert & J.J. Craig, Hybrid position force control of ma-nipulators, ASME Journal of Dynamic Systems, Measurement,and Control, 108 (3), 1981, 126–133.
  3. [3] O. Khatib, Object manipulation in a multi-effector robotsystem, Robotics Research 4, R. Bolles and B. Roth (eds.)(Cambridge: MIT Press, 1988), 137–144.
  4. [4] Y. Nakamura, K. Nagai, & T. Yoshikawa, Dynamic and stabilityin coordination of multiple robotic mechanism, InternationalJournal of Robotics Research, 8 (2), 1989, 44–61. doi:10.1177/027836498900800204
  5. [5] M. Itoh, T. Murakami, & K. Ohnishi, Decentralized control ofcooperative manipulators based on virtual force transmissionalgorithm, Proc. IEEE Conf. on Control Applications, Hawaii,USA, 1, 1999, 869–874.
  6. [6] J.F. Liu, Robust control of planar dual-arm cooperative ma-nipulators, Journal of Robotics and Computer-Integrated Man-ufacturing, 16 (2–3), 2000, 109–120. doi:10.1016/S0736-5845(99)00043-5
  7. [7] A. Nagchaudhuri & D.P. Garg, Adaptive control strategies formultiple cooperating arms, CD Proceedings of InternationalSymposium on Advanced Robot Dynamics and Control atthe 2001 International Mechanical Engineering Congress andExposition (IMECE’01), New York, November 11–16, 2001.
  8. [8] H. Kawasaki, T. Shimizu, & S. Ito, Adaptive coordinatedcontrol of multiple robot arms, Proc. 6th IFAC Symp. on RobotContro (SYROCO’2000), Vienna, Austria, 2000, 663–668.
  9. [9] H. Kawasaki, S. Ito, & R.B. Ramli, Adaptive decentralizedcoordinated control of multiple robot arms, Proc. 7th IFACSymp. on Robot Control (SYROCO’2003), Wroclaw, Poland,2 003, 461–466.115
  10. [10] I. Uzmay, R. Burkan, & H. Sarikaya, Application of robustand adaptive control techniques to cooperative manipulation,Control Engineering Practice, 12, 2004, 139–148. doi:10.1016/S0967-0661(03)00017-0
  11. [11] C.Y. Su & Y. Stepanenko, Backstepping based hybrid adap-tive control of robot manipulators incorporating actuator dy-namics, International Journal of Adaptive Control and SignalProcessing, 11, 1997, 141–153. doi:10.1002/(SICI)1099-1115(199703)11:2<141::AID-ACS434>3.0.CO;2-I
  12. [12] D.N. Kouya, M. Saad, L. Lamarche, & C. Khairallah, Backstep-ping adaptive position control for robot manipulators, Proc.American Control Conf., Arlington, VA, USA, 2001, 636–640.
  13. [13] A. Lotfazar, M. Eghtesad, & M. Mohseni, Integrator back-stepping control of a 5 DOF robot manipulator incorporatingactuator dynamics, Proc. IEEE Conf. on Control Applications,Istanbul, Turkey, 2003, 1007–1012.
  14. [14] J. Yuan, Adaptive control of robotic manipulators includingmotor dynamics, IEEE Trans. on Robotics and Automation,11 (4), 1995, 612–617. doi:10.1109/70.406946
  15. [15] Y.T. Kim, Decentralized adaptive fuzzy backstepping controlof rigid-link electrically driven robots, 2005 IEEE Int. Conf.on Systems, Man and Cybernetics, 3, Hawaii, USA, 2005,2061–2066. doi:10.1109/ICSMC.2005.1571452
  16. [16] C. Liu & C.C. Cheah, Adaptive regulation of rigid-link elec-trically driven robots with uncertain kinematics, Proc. 2005IEEE Int. Conf. on Robotics and Automation, Barcelona,Spain, 2005, 3262–3267.
  17. [17] M.S. de Queiroz, D.M. Dawson, & H. Canbolat, Adaptiveposition/force control of BDC-RLED robots without veloc-ity measurements, Proc. IEEE Int. Conf. on Robotics andAutomation, Albuquerque, NY, USA, 1997, 525–530. doi:10.1109/ROBOT.1997.620090
  18. [18] C. Liu, C.C. Cheah, & J.-J.E. Slotine, Adaptive Jacobiantracking control of rigid-link electrically driven robots basedon visual task-space information, Automatica, 42 (6), 2006,1491–1501. doi:10.1016/j.automatica.2006.04.022
  19. [19] M. Krstic, I. Kanellakopoulos, & P.V. Kokotovic, Nonlinearand adaptive control design (New York, NY, USA: Wiley,1995).
  20. [20] F.S. Chen & J.S. Lin, Nonlinear backstepping design of robotmanipulators with velocity estimation feedback, Proc. 5thAsian Control Conf., Melbourne, Australia, 2004, 351–356.
  21. [21] S.J. Huang & J.S. Lee, A stable self-organizing fuzzy con-troller for robotic motion control, IEEE Trans. on IndustrialElectronics, 47, 2000, 421–428. doi:10.1109/41.836358
  22. [22] B.K. Yoo & W.C. Ham, Adaptive control of robot manipulatorsusing fuzzy compensator, IEEE Trans. on Fuzzy Systems, 8,2000, 186–199. doi:10.1109/91.842152
  23. [23] H. Lee, D. Nam, & C.H. Park, A sliding mode controller usingneural networks for robot manipulators, Proc. Euro. Symp. onArtificial Neural Networks (ESANN’2004), Bruges, Belgium,2004, 193–198.
  24. [24] Y.H. Kim & F.L. Lewis, Optimal design of CMAC neural-network controller for robot manipulators, IEEE Trans. onSystems, Man, and Cybernetics, 30, 2000, 22–31. doi:10.1109/5326.827451
  25. [25] K.S. Narendra & K. Parthasarathy, Identification and controlof dynamical systems using neural networks, IEEE Trans. onNeural Networks, 1, 1990, 4–27. doi:10.1109/72.80202
  26. [26] F. Chen & H.K. Khalil, Adaptive control of nonlinear systemsusing neural networks, International Journal of Control, 55 (6),1992, 299–1317. doi:10.1080/00207179208934286
  27. [27] X. Chi & K.G. Shin, Direct control and coordination using neu-ral networks, IEEE Trans. on Systems, Man, and Cybernetics,23 (1), 1993, 1–4.
  28. [28] J.J. Craig, Introduction to robotics: Mechanics and control, 3rdedition (Upper Saddle River, NJ, USA: Prentice-Hall, 2003).
  29. [29] L. Sciavicco & B. Siciliano, Modelling and control of robotmanipulators, 2nd edition (Berlin, Germany and London, UK:Springer, 2000).
  30. [30] C. Canudas de Wit, B. Siciliano, & G. Bastin, Theory of robotcontrol (London, UK: Springer, 1996).
  31. [31] F.L. Lewis, C.T. Abdallah, & D.M. Dawson, Control of robotmanipulators, 2nd edition (Upper Saddle River, NJ, USA:Macmillan, 2004).
  32. [32] F.L. Lewis, S. Jagannathan, & A. Yesildirek, Neural networkcontrol of robot manipulators and nonlinear systems (Bristol,PA, USA: Taylor and Francis, 1998).
  33. [33] A.R. Barron, Universal approximation bounds for superpositionof a sigmoidal function, IEEE Trans. on Information Theory,30, 1993, 930–945. doi:10.1109/18.256500
  34. [34] A. Lotfazar & M. Eghtesad, Application and comparison ofpassivity based and integrator backstepping control methodsfor trajectory tracking of rigid-link robot manipulators incor-porating motor dynamics, International Journal of Roboticsand Automation, 22(3), 2007.

Important Links:

Go Back