Name
Abstract | ||
|---|---|---|
This paper focuses on biomimetic hybrid feedback feedforward (HFF) learning for robot motion control. Existing HFF robot motion control approaches have a major problem that accurate estimation of the robotic dynamics, which is crucial for mimicking biological control, is not taken into account. In this study, a composite learning technique is presented to achieve fast and accurate estimation of the robotic dynamics in robot motion control without a stringent persistent-excitation (PE) condition. The control architecture includes a proportional-derivative (PD) controller acting as a feedback servo machine and an estimation model acting as a feedforward predictive machine. In the composite learning, a time-interval integral of a filtered regressor is utilized to construct a prediction error, and both the prediction error and a filtered tracking error are used to update parametric estimates. Semiglobal exponential stability of the closed-loop system is rigorously established under an interval-excitation (IE) condition which is much weaker than the PE condition. Simulation results have been provided to demonstrate effectiveness and superiority of the proposed approach. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/BIOROB.2016.7523622 | 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) |
Keywords | Field | DocType |
biomimetic composite learning,robot motion control,biomimetic hybrid feedback feedforward learning,robotic dynamics,biological control,persistent-excitation,proportional-derivative controller,PD controller,feedback servo machine,estimation model,feedforward predictive machine,time-interval integral,filtered regressor,semiglobal exponential stability,closed-loop system,interval-excitation | Feedforward neural network,Control theory,Servo,Control theory,Control engineering,Exponential stability,Parametric statistics,Engineering,Robot motion control,Tracking error,Feed forward | Conference |
ISSN | ISBN | Citations |
2155-1782 | 978-1-5090-3288-4 | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yongping Pan | 1 | 50 | 4.64 |
| Tairen Sun | 2 | 41 | 3.81 |
| Haoyong Yu | 3 | 621 | 74.47 |