Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics

doi:10.1109/TFUZZ.2018.2864940

	Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics
	Yang, Chenguang 1; Jiang, Yiming 1; Na, Jing 2; Li, Zhijun 3; Cheng, Long4,5 ; Su, Chun-Yi 6
刊名	IEEE TRANSACTIONS ON FUZZY SYSTEMS
	2019-03-01
卷号	27 期号:3 页码:574-588
关键词	Dual-arm robots finite-time (FT) convergence fuzzy logic system (FLS) uncertain kinematics
ISSN号	1063-6706
DOI	10.1109/TFUZZ.2018.2864940
通讯作者	Yang, Chenguang(cyang@ieee.org)
英文摘要	Due to strongly coupled nonlinearities of the grasped dual-arm robot and the internal forces generated by grasped objects, the dual-arm robot control with uncertain kinematics and dynamics raises a challenging problem. In this paper, an adaptive fuzzy control scheme is developed for a dual-arm robot, where an approximate Jacobian matrix is applied to address the uncertain kinematic control, while a decentralized fuzzy logic controller is constructed to compensate for uncertain dynamics of the robotic arms and the manipulated object. Also, a novel finite-time convergence parameter adaptation technique is developed for the estimation of kinematic parameters and fuzzy logic weights, such that the estimation can be guaranteed to converge to small neighborhoods around their ideal values in a finite time. Moreover, a partial persistent excitation property of the Gaussian-membership-based fuzzy basis function was established to relax the conventional persistent excitation condition. This enables a designer to reuse these learned weight values in the future without relearning. Extensive simulation studies have been carried out using a dual-arm robot to illustrate the effectiveness of the proposed approach.
资助项目	National Nature Science Foundation[61473120] ; National Nature Science Foundation[61811530281] ; National Nature Science Foundation[61573174] ; National Nature Science Foundation[61873268] ; National Nature Science Foundation[61633016] ; Science and Technology Planning Project of Guangzhou[201607010006] ; State Key Laboratory of Robotics and System (HIT)[SKLRS-2017-KF-13] ; Fundamental Research Funds for the Central Universities[2017ZD057] ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation[4162066] ; Major Science and Technology Project of Beijing[Z181100003118006]
WOS关键词	PARAMETER-ESTIMATION ; TRACKING CONTROL ; UNCERTAIN KINEMATICS ; ELECTRIC CONNECTORS ; FAULT-DETECTION ; MANIPULATORS ; DESIGN ; MODEL ; COORDINATION ; SYSTEMS
WOS研究方向	Computer Science ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000460432200014
资助机构	National Nature Science Foundation ; Science and Technology Planning Project of Guangzhou ; State Key Laboratory of Robotics and System (HIT) ; Fundamental Research Funds for the Central Universities ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation ; Major Science and Technology Project of Beijing
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/24976]
专题	中国科学院自动化研究所
通讯作者	Yang, Chenguang
作者单位	1.South China Univ Technol, Key Lab Autonomous Syst & Networked Control, Coll Automat Sci & Engn, Guangzhou 510640, Guangdong, Peoples R China 2.Kunming Univ Sci & Technol, Fac Mech & Elect Engn, Kunming 650500, Yunnan, Peoples R China 3.Univ Sci & Technol China, Dept Automat, Hefei 230026, Anhui, Peoples R China 4.Chinese Acad Sci, Key Lab Complex Syst & Intelligence Sci, Inst Automat, Beijing 100190, Peoples R China 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 6.Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Guangdong, Peoples R China
推荐引用方式 GB/T 7714	Yang, Chenguang,Jiang, Yiming,Na, Jing,et al. Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics[J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS,2019,27(3):574-588.
APA	Yang, Chenguang,Jiang, Yiming,Na, Jing,Li, Zhijun,Cheng, Long,&Su, Chun-Yi.(2019).Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics.IEEE TRANSACTIONS ON FUZZY SYSTEMS,27(3),574-588.
MLA	Yang, Chenguang,et al."Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics".IEEE TRANSACTIONS ON FUZZY SYSTEMS 27.3(2019):574-588.