Adaptive neural impedance control for electrically driven robotic systems based on a neuro-adaptive observer

Peng, Jinzhu; Ding, Shuai; Yang, Zeqi; Xin, Jianbin

doi:10.1007/s11071-020-05569-8

Cited by 27 publications

(15 citation statements)

References 29 publications

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“…Property 2 [5,9,26] For all q, q ∈ R n , Ḋ(q) − 2C(q, q) is a skew-symmetric matrix, i.e., η T ( Ḋ(q) − 2C(q, q))η = 0, ∀η ∈ R n .…”

Section: Problem Formulationmentioning

confidence: 99%

“…In the past two decades, trajectory tracking control has been a hot topic in the field of the control for flexible-joint robots ( ). Accordingly, many effective control methods have been proposed, such as neural network ( [11,19,23,26]), fuzzy control ( [8,15,18,20]), robust control ( [3-5, 14, 21, 25]), prescribed performance control ( [6]), etc. It is necessary to point out that the existing results are strongly restricted by the regardlessness of the control constraint and the generality of reference signals as well as the system uncertainties.…”

Section: Introductionmentioning

confidence: 99%

“…3) The disturbance uncertainties are neglected or constrained. In fact, the disturbance uncertainties coming from the external environment are completely excluded in [8, 10, 16-18, 20, 22, 24] or only exist in one subsystem in [4,5,11,15,26]. However, disturbance exists inevitably in practical engineering which always bring essential obstacles in control design.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Practical tracking control under actuator saturation for a class of flexible-joint robotic manipulators driven by DC motors

Zhu

2022

Nonlinear Dyn

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This paper is devoted to the practical tracking control for a class of flexible-joint robotic manipulators driven by DC motors. Different from the related literature where control constraint is neglected and the disturbances are excluded or only exist in one subsystem, actuator saturation is considered in this paper while the disturbances are present in all the three subsystems. This leads to the incapability of the traditional schemes on this topic. For this, a novel control design scheme is proposed by skillfully incorporating adaptive dynamic compensation technique, constructive methods of command filters and an auxiliary system for the actuator saturation into the backstepping framework, and in turn to design a practical tracking controller which ensures that all the states of the resulting closed-loop system are bounded and the system output practically tracks the reference signal. It is worthwhile strengthening that a more wider class of reference signals can be tracked since they are only first order continuously differentiable but twice or more in the related literature. Finally, a numerical example is provided to validate the effectiveness of the proposed theoretical results.

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“…Property 2 [5,9,26] For all q, q ∈ R n , Ḋ(q) − 2C(q, q) is a skew-symmetric matrix, i.e., η T ( Ḋ(q) − 2C(q, q))η = 0, ∀η ∈ R n .…”

Section: Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Practical tracking control under actuator saturation for a class of flexible-joint robotic manipulators driven by DC motors

Zhu

2022

Nonlinear Dyn

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“…To compensate for these defects, people proposed to the traditional impedance control combined with other methods of control strategy [8][9][10]. For instance, adaptive impedance control [11,12], neural network impedance control [13], sliding mode impedance control [14] and other methods to overcome the defects of single impedance control. The lower limb rehabilitation exoskeleton robot studied in this paper is a complex nonlinear system.…”

Section: Introductionmentioning

confidence: 99%

Research on finite time stability of lower limb rehabilitation exoskeleton based on compliance control

Liu

et al. 2022

Preprint

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In this paper, in order to achieve safe, stable and efficient lower limb rehabilitation training, a PRR-NTSMIC(power reaching rate-nonsingular terminal sliding mode impedance controller, PRR-NTSMIC) for lower limb rehabilitation exoskeleton robot is proposed. Firstly, the kinemat-ics and dynamics models of the lower limb rehabilitation exoskeleton robot are established. On the basis of the model, PRR-NTSMIC is illustrated to ensure the compliance, comfort and robustness of the lower limb rehabilitation exoskeleton robot in the process of rehabilitation training, and the FTS(finite-time stability,FTS) of the system is verified by Lyapunov. Secondly, the superiority of the proposed control scheme is illustrated by designing a comparative simulation with the traditional PRR-SMIC(power reaching rate-sliding mode impedance controller, PRR-SMIC) and PRR-TSMIC(power reaching rate-terminal sliding mode impedance controller, PRR-TSMIC) algorithms. Then, in order to obtain better controller performance, through analyzing the influence of parameters values on control effect, numerical comparison simulations are designed to select the optimal controller 1 Springer Nature 2021 L A T E X template Article Title parameters values. Finally, the human bicycle motion data are collected as the system input for bicycle rehabilitation training based on lower limb rehabilitation exoskeleton robot to verify the proposed control method. The experimental results illustrate that the proposed controller has high tracking accuracy, effectiveness, robustness and FTS.

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“…One is the active compliant strategy, which uses force feedback to identify the misalignment and compensates the positioning error using the feedback control. In the active compliance strategy, many control strategies have been presented to improve the assembly performance, including the stiffness control [3][4], the impedance control [5][6][7], and the force/position hybrid control [8][9][10][11][12]. Although the active compliance strategy has gained many successful applications, its complex control algorithm is often challenging to implement.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of Series-Parallel Compliant Device for Reliable Assembly Under Position/Angle Deviation

2021

Preprint

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Automatic assembly using manipulator has attracted increasing attention due to low cost and high quality of assembly. As the manipulator is entirely rigid, it often causes assembly failure and even damages the manipulator when there is a position or angle deviation. A series-parallel compliant device is developed here to realize the reliable assembly under the position or the angle deviation and does not produce a significant contact force. Its core idea is that when the contact force exceeds a specific value, this device becomes compliant and can move in a particular direction. It guarantees that this assembly allows a relatively significant misalignment and produces a small force, protecting parts and manipulators. This device has two compliant components, and these two components are connected using a rigid block. Each compliant component consists of the rigid frame, the four elastic limbs with a similar ‘n’ shape, and the square block. Due to using the elastic material, each elastic limb is equivalent to a compliant hinge (or spring), making this designed device equal to a series-parallel compliant structure. In this way, this device becomes compliant and can move in a particular direction when the contact force exceeds a specific value. On this basis, the desired compliance of the device is realized in various directions depending on the compliant device, and an optimization method is designed to achieve the parameters of this device based on the kinematic model and the stiffness analysis. Experiments under different working conditions are carried out and demonstrate the reliable assembling performance of this designed device even if there exists the position deviation or the angle deviation.

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Adaptive neural impedance control for electrically driven robotic systems based on a neuro-adaptive observer

Cited by 27 publications

References 29 publications

Practical tracking control under actuator saturation for a class of flexible-joint robotic manipulators driven by DC motors

Practical tracking control under actuator saturation for a class of flexible-joint robotic manipulators driven by DC motors

Research on finite time stability of lower limb rehabilitation exoskeleton based on compliance control

Design and Modeling of Series-Parallel Compliant Device for Reliable Assembly Under Position/Angle Deviation

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