Paper Info
Title
A Dual Fuzzy-Enhanced Neurodynamic Scheme for Model-Less Kinematic Control of Redundant and Hyperredundant Robots
Abstract
Tracking control of redundant and hyperredundant manipulators is a fundamental and critical problem in practical applications. In order to effectively decrease the end-effector position errors, a novel dual fuzzy-enhanced neurodynamic (DFEN) scheme is put forward for solving the position error accumulation problem followed by achieving accurate tracking control results. The proposed scheme is established based on a zeroing neurodynamic approach in conjunction with two fuzzy adjustment units that are capable of tuning the control parameters by monitoring the tracking error. Moreover, the DFEN scheme can effectively solve the tracking problem without requiring knowing <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> knowledge of the kinematic model of the robot. The convergence and the stability of the proposed approach are demonstrated by theoretical analysis. The effectiveness, accuracy, and robustness of the proposed DFEN scheme are verified on the simulative redundant manipulator, continuum robot, and hybrid robot (integrating the redundant manipulator and the continuum robot). A practical experiment is provided to validate the proposed scheme as well.
Year
DOI
Venue
2022
10.1109/TFUZZ.2022.3152077
IEEE Transactions on Fuzzy Systems
Keywords
DocType
Volume
Fuzzy control system,model free,robot manipulators,unknown models,zeroing neurodynamics
Journal
30
Issue
ISSN
Citations 
10
1063-6706
0
PageRank 
References 
Authors
0.34
24
4
Name
Order
Citations
PageRank
Ning Tan1116.85
Zixiao Ye200.34
Peng Yu311.02
Fenglei Ni4268.22