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RISS 인기검색어
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- 저자 : Huayang Sai (검색결과 3 건)
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Huayang Sai,Zhenbang Xu,Yi Li,Kai Wang 한국정밀공학회 2021 International Journal of Precision Engineering and Vol.22 No.12
This paper describes an impedance controller that uses the fast terminal sliding mode and adaptive neural networks. The proposed controller improves the dynamic trajectory performance and force tracking accuracy of robotic manipulators in three-dimensional uncertain environments. The key idea of the controller is that the improved adaptive nonsingular fast terminal sliding mode (ANFTSMC) uses integral control to eliminates chattering without affecting the tracking performance. Also, adaptive neural networks are introduced into the sliding mode controller to provide a local approximation in the dynamic model of the robotic manipulator, and the stability is guaranteed through the Lyapunov theory. Finally, combined with impedance control, the operation of the robotic manipulator is simulated in environments containing various obstacle types, and experimental validation has demonstrated the effectiveness and superiority of the proposed control scheme.
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Huayang Sai,Zhenbang Xu,Ce Xu,Xiaoming Wang,Kai Wang,Lin Zhu 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.3
In this paper, an adaptive radial basis function neural network (RBFNN) controller based on extraordinariness particle swarm optimization (EPSO) is proposed. To improve the trajectory tracking performance of robotic manipulators, the uncertainties of the manipulator dynamic equation are locally approximated using three RBFNNs with optimized hyperparameters. Besides, a robust control item is also considered in the controller to resist external disturbances. During hyperparameters optimization, the EPSO optimizer iteratively optimizes the hyperparameters of the RBFNN controller using the composite error of the system output. The stability of the control scheme is analyzed with the Lyapunov stability. Simulation results as well as the experimental verification prove the efficiency and applicability of the control scheme.
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Chattering-free Fast Fixed-time Sliding Mode Control for Uncertain Robotic Manipulators
Huayang Sai,Zhenbang Xu,Enyang Zhang,Chunyang Han,Yang Yu 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.2
In this paper, we introduce a dynamic controller that dedicates fixed-time trajectory tracking for uncertain robotic manipulators. First, a new nonlinear function is designed and applied to the fixed-time sliding mode (FSM) surface. The derivative of the proposed nonlinear function is continuous, which can ensure the continuity and smoothness of the control torque, and it makes the sliding surface facilitate fast convergence rates of the system tracking error. Then, a FSM control scheme is designed using the proposed sliding mode surface. Combined the Lyapunov stability theory, we show that the proposed controller has fixed-time convergence independent of the initial state of the system. Moreover, the proposed control scheme is advantageous in that the control torque is continuous without transient change. This eliminates the chattering of uncertain robotic manipulators and makes the control torque smoother. Simulation results show that a faster error convergence rate can be obtained with a smaller control torque range. Finally, the above-mentioned effectiveness and superiority of the proposed control scheme are validated using simulations and experimental results.
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