Active vibration adaptive fuzzy backstepping control of a 7-DOF dual-arm of humanoid robot with input saturation

doi:10.3233/JIFS-169179

	Active vibration adaptive fuzzy backstepping control of a 7-DOF dual-arm of humanoid robot with input saturation
	Bai, Keqiang 1,2,3; Luo, Minzhou 1,2; Li, Tao 4; Wu, Jue 3; Yang, Lei3 ; Liu, Manlu 1,3; Jiang, Guanwu 1,3
	2016
发表期刊	JOURNAL OF INTELLIGENT & FUZZY SYSTEMS
摘要	This paper proposes a new controller based on the torque compensation method for the control of a 7-DOF dual arm of a humanoid robot with input saturation residual vibration of the end-effector. Through theoretical and experimental analysis, an adaptive fuzzy backstepping control strategy was designed for the 7-DOF dual-arm control system. This strategy can be used to suppress the time-varying nonlinear residual vibration of the end-effector caused by inertia variations in the serial robot. Firstly, a boundary feedback controller was designed to asymptotically stabilize the closed-loop system based on the C-0-semigroup theory, which also proves the efficacy of the closed-loop system solution. Lyapunov stability analysis proved that the closed-loop demonstrated globally asymptotic stability. Secondly, an adaptive fuzzy backstepping method was designed for the dynamic compensator with a tracking filter for the control system of the 7-DOF dual-arm of the humanoid robot. The primary difference between this new method and conventional methods is that the new method does not require complex computation. In addition, this method improves the limit of computing power and memory space for the controllers. Finally, the effectiveness of the torque compensation strategy and the new method's ability to suppress the residual vibration are demonstrated via simulation and experiments.
文章类型	Article
关键词	Torque Compensation 7-dOf Dual-arm Of Humanoid Robot Input Saturation Adaptive Fuzzy Backstepping Control
WOS标题词	Science & Technology ; Technology
DOI	10.3233/JIFS-169179
关键词[WOS]	EULER-BERNOULLI BEAM ; TRACKING CONTROL ; SYSTEMS ; DISTURBANCE
收录类别	SCI
语种	英语
项目资助者	project of new strategic industries of the Chinese Academy of Sciences ; project of new strategic industries of the Chinese Academy of Sciences ; project of new strategic industries of the Chinese Academy of Sciences ; project of new strategic industries of the Chinese Academy of Sciences ; project of new strategic industries of the Chinese Academy of Sciences ; project of new strategic industries of the Chinese Academy of Sciences ; project of new strategic industries of the Chinese Academy of Sciences ; project of new strategic industries of the Chinese Academy of Sciences ; national key basic research and development program(2014CB744100) ; national key basic research and development program(2014CB744100) ; national key basic research and development program(2014CB744100) ; national key basic research and development program(2014CB744100) ; national key basic research and development program(2014CB744100) ; national key basic research and development program(2014CB744100) ; national key basic research and development program(2014CB744100) ; national key basic research and development program(2014CB744100) ; national nature science foundation of China(51405469) ; national nature science foundation of China(51405469) ; national nature science foundation of China(51405469) ; national nature science foundation of China(51405469) ; national nature science foundation of China(51405469) ; national nature science foundation of China(51405469) ; national nature science foundation of China(51405469) ; national nature science foundation of China(51405469)
WOS研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence
WOS记录号	WOS:000392354800024
引用统计	被引频次：4[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/31610
专题	中科院合肥物质科学研究院先进制造技术研究所
作者单位	1.Univ Sci & Technol China, Sch Informat Sci & Technol, Dept Automat, Hefei 230026, Peoples R China 2.Jiangsu Ind Technol Res Inst, Inst Intelligent Mfg Technol, Nanjing, Jiangsu, Peoples R China 3.Southwest Univ Sci & Technol, Mianyang 621010, Peoples R China 4.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg Technol, Changzhou, Peoples R China
推荐引用方式 GB/T 7714	Bai, Keqiang,Luo, Minzhou,Li, Tao,et al. Active vibration adaptive fuzzy backstepping control of a 7-DOF dual-arm of humanoid robot with input saturation[J]. JOURNAL OF INTELLIGENT & FUZZY SYSTEMS,2016,31(6):2949-2957.
APA	Bai, Keqiang.,Luo, Minzhou.,Li, Tao.,Wu, Jue.,Yang, Lei.,...&Jiang, Guanwu.(2016).Active vibration adaptive fuzzy backstepping control of a 7-DOF dual-arm of humanoid robot with input saturation.JOURNAL OF INTELLIGENT & FUZZY SYSTEMS,31(6),2949-2957.
MLA	Bai, Keqiang,et al."Active vibration adaptive fuzzy backstepping control of a 7-DOF dual-arm of humanoid robot with input saturation".JOURNAL OF INTELLIGENT & FUZZY SYSTEMS 31.6(2016):2949-2957.

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