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I. I NTRODUCTION
In the last decades, the antenna of robots are extending into
each part of society with amazing speed. Robots are playing
a more and more important role in society. With the gaining
needs of robot, higher requirements for robot systems are also
presented. The work condition robots faced is more complex,
which is always unknown, dynamic and unstructured, so that
the demand for more robust control algorithms is urgent.
Since the complex configuration or mechanism of the robot,
little knowledge about robot dynamics parameters are available
in real applications. Thus, the back-stepping design with
partially model free control techniques have been widely
studied and. In [1], the controller using neural network (NN) to
approximate the unknown dynamics is designed with dynamic
surface technique. In [2], the control gain function gi is
estimated by NNs, and the indirect design is proposed for
the longitudinal hypersonic flight dynamics.
It is noted that the above-mentioned intelligent design is
on the condition that the approximation should remain valid
all the time. However, such a condition is difficult to verify
beforehand [3]. Since the approximation ability of NNs is only
valid in a compact domain, the NN-based robot manipulator
control can only guarantee the SGUUB stability. As a result,
instability may occur in real applications when the compact
domain is not held. Accordingly, it is urgent to develop global
NNs controller for robot manipulator.
Inspired by previous work, in this paper, we transform
the mathematical model of the robot manipulator into strictfeedback form, and adaptive global NNs back-stepping design
with dynamic surface technique is proposed. For the affine
system x = f (x) + g(x)u, the indirect design [4] is with the
form u = 1/
g (f + ), where f and g are the estimates of f
and g, respectively. In comparison to the previous work, the
main contributions of this paper lie in:
(1)
= x2
x 2
= F (
x2 ) + H(
x2 )
(2)
x2 ) = M 1 (Cx2 +G), H(
x2 ) =
where x
2 = (xT1 , xT2 )T , F (
1
M . Assume that F and H are entirely unknown.
An n-link robot manipulator (1) is a second-order system
with the multiple-input-mulitple-output (MIMO) system in
strict-feedback form:
x 1
f1 (
x1 ) + g1 (
x1 )x2
x 2
f2 (
x2 ) + g2 (
x2 )u
x1
where x
i = [xT1 , ..., xTi ]T , i = 1, 2.
(3)
III. P RELIMINARIES
A. RBF Neural Networks
In this paper, the RBF NNs [??] are employed to approximate the unknown nonlinearity f with the following form:
T S(Xin )
f(Xin ) = W
(4)
sup
(6)
(7)
Xin Xin
where W = [W1
, W2
, ..., Wn
] RN n with Wi
RN . m > 0 denotes the supremum value of the reconstruction error that is inevitably generated.
where x 1d = qd .
Take x2 as the virtual control of (12) and design the signal
x2c as
x2c = k1 x
1 + x 1d
2 x 2d + x2d = x2c ,
x
1
= x2 x 1d
= x2 x2d + x2d x2c + x2c x 1d
x
2
2
k2n xkn
2
2
rk1n
rk2n
2
x2
kn rk1n
$(r 2
r 2
)
k2n
k1n
x 2 x 2d
F (
x2 ) + H(
x2 ) x 2d
(15)
where x d = qd .
Using NN to approximate the unknown function F on the
compact set X , we have
F (
x2 ) = WFT SF (
x2 ) + F
(16)
WFT
bk (xkn )
r2
(14)
(9)
k=1
(13)
(+1)
Bk (xk )
= x
2 + y2 k1 x
1
0 6 || tanh
6 0
(8)
0
i
Y
(12)
mi (
xi ) ,
(11)
2b
(10)
where Bk (xk ) = diag(bk (xk1 ), ..., bk (xkn )) with
> 0 and
b 1 being the spread and the order of the function Bk (xk ),
respectively.
where
is the optimal NN weights vector, SF is the basis
function vector, F is the NN construction error, andkF k <
m .
H(X)
= k2 x
2 + x 2d m2 (
x2 )uN
x2 ))ur2 (17)
2 (1 m2 (
where k2 = diag(k21 , ..., k1n ), and k2i > 0, i = 1, ..., n.
x2 ) = W
T SH (
H(
x2 ) and
H
x2 ) = W
FT SF (
uN
x2 )
2 = F (
ur2
= F (
x2 ) tanh
x
T2 FU (
x2 )
2
(18)
(19)
F as the estimation of W , W
H as the estimation of
with W
F
= F + H x 2d
+ H)
+ F x 2d
= (H
k2 x
= H
2 + m2 (
x2 )(F + 2 )
+(1 m2 (
x2 ))(F ur2 )
V 2
=
=
Vi
=
xT2 k2 x
2 + x
T2 m2 (
x2 )F
+
xT2 (I m2 (
x2 ))(F ur2 )
T
FT W
F + H W
H
+tr(F W
WH )
(23)
i=1
with
V1 =
1 T
(
x x
1 + y2T y2 )
2 1
(24)
1 T
1
T 1
F + W
H
FT 1 W
(25)
H WH )
V2 = x
x
2 + tr(W
F
2 2
2
According to the definition of y2 , the following equations can
be obtained:
y 2
21 (y2 )
+ B2 ()
(26)
where B2 () = x 2c .
According to the virtual controls together with Assumption
2, we know there exist constants Mi > 0, i = 2 with
|B2 ()| M2
(27)
x
T1 x
1 + y2T y 2
x
T1 (
x2 + y2 k1 x
1 ) + y2T [21 (y2 ) + B2 ()]
x
T1 (k1 )
x1 + x
T1 x
2 + x
T1 y2 y2T 21 y2 + y2T B2 ()
1 T 2 1
1 T 2 1
x
T1 (k1 )
x1 + |
x | + |
x2 |2 + |
x | + |y2 |2
2 1
2
2 1
2
1 T 2 1
2
T 1
y2 2 y2 + |y2 | + |B2 ()|
2
2
1
1
T
T
=
x1 (k1 I)
x1 y2 (2 I)y2 + |
x2 |2
2
1
+ |B2 ()|2
2
1
1 V1 + |
x2 |2 + K13
(28)
2
=
(30)
(31)
1
1
T
T
T
H
H
tr(W
WH ) tr(W
WH ) + tr(WH
WH
)
2
2
(32)
x
T2 m(
x2 )F
1 T 2 1 2
|
x | + F m
2 2
2
= x 2d x 2c
=
V 1
T 1 W
F + W
T 1 W
H )
x
T2 x
2 tr(W
F F
H H
x
x
T2 H
T2 k2 x
2 + x
T2 m2 (
x2 )F + x
T2 m2 (
x2 )F
T
T
H
H
+W
SH x
T2 H W
WH )
(29)
+
xT2 (I m2 (
x2 ))(F ur2 )
FT SF x
FT W
F
tr(W
T2 m(
x2 ) F W
B. Stability Analysis
2
X
(22)
)
T 1
FT 1 W
F + W
H
x
T2 x
2 + tr(W
H W
H
F
k2 x
x
T (H
2 + m2 (
x2 )(F + 2 )
+(1 m2 (
x2 ))(F ur2 ))
T 1
FT 1 W
F + W
H
tr(W
H WH )
F
(20)
T SF (
=W
T SH (
F = W W
F,
where F = W
x2 ),H
x2 ), W
F
H
F
WH = WH WH .
The adaptation laws of the estimated parameters are given
as
F = F (SF x
F)
W
T2 m(
x2 ) F W
(21)
H = H (SH x
H)
W
T2 H W
x
T2 (F ur2 ) x
T2 F x
T2 FU tanh
(33)
x
T2 FU
2
(34)
2 + x
T2 m2 (
x2 )F
=
xT2 k2 x
+
xT2 (I m2 (
x2 ))(F ur2 )
T
T
F W
F + H W
H
+tr(F W
WH )
1
1
xT2 k2 x
2 + |
xT |2 + 2F m + 2
2 2
2
T
FT W
F + H W
H
+tr(F W
WH )
1 T
T
x2 (k2 I)
x2 x
x
2
2 2
1
TW
F + H W
TW
H)
tr(F W
F
H
2
1
T W
+ H W T W )
+ tr(F W
F
F
H
H
2
1 2
+ F m + 2
2
1
2 V2 |
x2 |2 + K23
2
(35)
1
where 2 = min[2K21 , F /(max (1
F )), H /(max (H ))],
K21 = min(k2 I), |k2 I| > 0, andK23 =
T W
+ H W T W ) + 1 2 + 2 .
(1/2)tr(F W
F
F
H
H
2 Fm
V G = V 1 + V 2
VG + K
(36)
and
lim VG (t)
t+
(38)
V. S IMULATIONS
The 2-joint robot manipulator is used for simulation. The
system is described as
M11 M12
C11 C12
G1
q+
q +
= (39)
M21 M22
C21 C22
G2
2
2
M11 = m1 lc1
+ m2 (l12 + lc2
+ 2l1 lc2 cos q2 ) + I1 + I2
2
M12 = m2 (lc2 + l1 lc2 cos q2 ) + I2
2
M22 = m2 lc2
+ I2
C11 = m2 l1 lc2 (q1 + q2 ) sin q2
C12 = m2 l1 lc2 (q1 + q2 ) sin q2
C21 = m2 l1 lc1 q1 sin q2
G11 = (m1 lc2 + m2 l1 )g cos q1 + m2 lc2 g cos(q1 + q2 )
G21 = m2 lc2 g cos(q1 + q2 )
where m1 = 2kg, m2 = 0.85kg, l1 = 0.35m, l2 = 0.31m,
I1 = 0.061kgm2 and I2 = 0.020kgm2 . The mi and li are the
mass and length of link i, respectively. The lci is the distance
between i 1th joint and the ith joints mass center,i = 1, 2.
And Ii is the inertia of link i around the axis at the mass
center of link i, parallel to the rotate axis.
The desired trajectory is given as qd1 = sin t and qd2 =
2 cos t, and the control gains are selected as k1 = diag(15, 5),
k1 = diag(15, 5). And NN adaptive laws are chosen as 1 =
2I, 2 = 2I. The robust parameters are set with
= 0.01,
while r1n = 0.5 and r2n = 1.
The simulation results are shown in
VI. C ONCLUSION
In this work, an robust indirect adaptive global neural
controller with back steeping and dynamic surface technique
is designed for robot manipulator. The new view of this
dissertation is a smooth switching algorithm is proposed by
which adaptive neural controller and robust controller cooperate to ensure the system globally uniformly ultimately bounded