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Adaptive Fuzzy Control for Coordinated Multiple Robots With Constraint Using Impedance Learning
Linghuan Kong 
,
Wei He ,
Chenguang Yang,
Zhijun Li ,
Changyin Sun
,
Wei He ,
Chenguang Yang,
Zhijun Li ,
Changyin Sun
IEEE Transactions on Cybernetics, Volume: 49, Issue: 8, Pages: 3052 - 3063
Swansea University Author: Chenguang Yang
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DOI (Published version): 10.1109/tcyb.2018.2838573
Abstract
In this paper, we investigate fuzzy neural network (FNN) control using impedance learning for coordinated multiple constrained robots carrying a common object in the presence of the unknown robotic dynamics and the unknown environment with which the robot comes into contact. First, an FNN learning a...
| Published in: | IEEE Transactions on Cybernetics |
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| ISSN: | 2168-2267 2168-2275 |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2019
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa50486 |
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| Abstract: |
In this paper, we investigate fuzzy neural network (FNN) control using impedance learning for coordinated multiple constrained robots carrying a common object in the presence of the unknown robotic dynamics and the unknown environment with which the robot comes into contact. First, an FNN learning algorithm is developed to identify the unknown plant model. Second, impedance learning is introduced to regulate the control input in order to improve the environment–robot interaction, and the robot can track the desired trajectory generated by impedance learning. Third, in light of the condition requiring the robot to move in a finite space or to move at a limited velocity in a finite space, the algorithm based on the position constraint and the velocity constraint are proposed, respectively. To guarantee the position constraint and the velocity constraint, an integral barrier Lyapunov function is introduced to avoid the violation of the constraint. According to Lyapunov’s stability theory, it can be proved that the tracking errors are uniformly bounded ultimately. At last, some simulation examples are carried out to verify the effectiveness of the designed control. |
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| College: |
Faculty of Science and Engineering |
| Issue: |
8 |
| Start Page: |
3052 |
| End Page: |
3063 |