Intelligent robust tracking control for multi-arm mobile manipulators using a fuzzy cerebellar model articulation controller neural network

被引：9
|
作者：
Zuo, Y. [1 ,3 ]
Wang, Y. [2 ]
Zhang, Y. [4 ]
Liu, X. [5 ]
Huang, L.
Wu, X. [2 ]
Wang, Z. [6 ]
机构：
[1] Changsha Univ Sci & Technol, Sch Energy & Power Engn, Changsha 410004, Hunan, Peoples R China
[2] Hunan Univ, Coll Elect & Informat Technol, Changsha 410082, Hunan, Peoples R China
[3] Hunan Univ, Res Ctr Adv Powertrain Technol, Changsha 410082, Hunan, Peoples R China
[4] Changsha Univ Sci & Technol, Sch Elect & Informat, Changsha 410004, Hunan, Peoples R China
[5] Univ Waterloo, Dept Appl Math, Waterloo, ON N2L 3G1, Canada
[6] Hunan Univ, Coll Math & Econometr, Changsha 410082, Hunan, Peoples R China
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2011年 / 225卷 / C5期
基金：
中国国家自然科学基金; 加拿大自然科学与工程研究理事会; 国家高技术研究发展计划(863计划);
关键词：
fuzzy CMAC neural network; fruit harvesting; mobile manipulators; lyapunov stability theorem; intelligent robust tracking; multi-arm; AGRICULTURAL ROBOT; SYSTEMS; FEEDBACK; DESIGN;
D O I：
10.1243/09544062JMES2336
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This article originally analyses intelligent robust tracking for multi-arm fruit-harvesting mobile manipulators(MAFHMMs) with delayed angle-velocity uncertainties. The MAFHMMs are composed of two parts: a crawler-type mobile platform and a four-arm harvesting manipulator. The method proposed here does not require a matching condition for the non-linear uncertainties. A fuzzy cerebellar model articulation controller (CMAC) neural network system is used to approximate an unknown controlled system from the strategic manipulation of the model following the tracking errors. In addition, an adaptive robust compensator is presented to compensate for the uncertainties. Based on the Lyapunov stability theory and neural network approximation capability, several sufficient conditions are derived, which guarantee the convergence of the closed-loop error system. Both simulation and experimental results show the superior control performance of the proposed intelligent control method.
引用
收藏
页码：1131 / 1146
页数：16
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