Name
Title | ||
|---|---|---|
Pattern-based autonomous smooth switching control for constrained flexible joint manipulator |
Abstract | ||
|---|---|---|
The paper proposes a pattern-based control scheme for a class of flexible joint manipulators with unknown dynamics and position constraints. The scheme consists of two phases: (i) online controller adjustment and task pattern identification; (ii) offline pattern recognition and controller calling. In phase (i), the constraint position vectors are transformed into unconstrained variables by using a transformation function. Subsequently, a set of static neural learning controllers are constructed for different reference patterns by employing experience weights obtained from stable adaptive neural control. Moreover, a dynamic estimator is developed to identify different reference patterns. The identified patterns are stored by constant NNs, thereby constructing a trained pattern library by combining with their corresponding static neural learning controllers. In phase (ii), the dynamic residual system is designed to recognize a tested pattern by comparing the size of residual error between the tested pattern and trained patterns. To avoid misjudgment, a novel recognition strategy is proposed by pre-recognition and recognition phases. When the tested pattern is recognized, the relevant experience-based controller strategy is recalled by an autonomous smooth switching technology. The proposed pattern-based control scheme has some advantages including accurate pattern recognition ability, small controller chattering, and highly autonomous control. Simulation studies on a 2-link flexible joint manipulator are implemented to show these advantages of the proposed scheme. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1016/j.neucom.2022.04.031 | Neurocomputing |
Keywords | DocType | Volume |
Pattern-based control,Adaptive neural control,Flexible joint manipulator,Deterministic learning,Multiple control tasks | Journal | 492 |
ISSN | Citations | PageRank |
0925-2312 | 0 | 0.34 |
References | Authors | |
0 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Haotian Shi | 1 | 0 | 0.34 |
| Min Wang | 2 | 76 | 27.77 |
| Cong Wang | 3 | 579 | 40.31 |