Adaptive-backstepping force/motion control for mobile-manipulator robot based on fuzzy CMAC neural networks  

作　　者：Thang-Long MAI Yaonan WANG 

机构地区：[1]College of Electrical and Information Engineering, Hunan University [2]Faculty of Electronics Engineering, Industrial University of Hochiminh City

出　　处：《Control Theory and Technology》2014年第4期368-382,共15页控制理论与技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.6117075,60835004);the National High Technology Research and Development Program of China(863 Program)(Nos.2012AA111004,2012AA112312)

摘　　要：In this paper, an adaptive backstepping fuzzy cerebellar-model-articulation-control neural-networks control （ABFCNC） system for motion/force control of the mobile-manipulator robot （MMR） is proposed. By applying the ABFCNC in the tracking-position controller, the unknown dynamics and parameter variation problems of the MMR control system are relaxed. In addition, an adaptive robust compensator is proposed to eliminate uncertainties that consist of approximation errors, uncertain disturbances. Based on the tracking position-ABFCNC design, an adaptive robust control strategy is also developed for the nonholonomicconstraint force of the MMR. The design of adaptive-online learning algorithms is obtained by using the Lyapunov stability theorem. Therefore, the proposed method proves that it not only can guarantee the stability and robustness but also the tracking performances of the MMR control system. The effectiveness and robustness of the proposed control system are verified by comparative simulation results.In this paper, an adaptive backstepping fuzzy cerebellar-model-articulation-control neural-networks control （ABFCNC） system for motion/force control of the mobile-manipulator robot （MMR） is proposed. By applying the ABFCNC in the tracking-position controller, the unknown dynamics and parameter variation problems of the MMR control system are relaxed. In addition, an adaptive robust compensator is proposed to eliminate uncertainties that consist of approximation errors, uncertain disturbances. Based on the tracking position-ABFCNC design, an adaptive robust control strategy is also developed for the nonholonomicconstraint force of the MMR. The design of adaptive-online learning algorithms is obtained by using the Lyapunov stability theorem. Therefore, the proposed method proves that it not only can guarantee the stability and robustness but also the tracking performances of the MMR control system. The effectiveness and robustness of the proposed control system are verified by comparative simulation results.

关 键 词：Backstepping control Fuzzy CMAC （cerebellar model articulation controller） neural networks Adaptive robustcontrol Mobile-manipulator robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]