动态受限机械臂的局部加权学习控制

doi:10.16182/j.issn1004731x.joss.17-0133

系统仿真学报 ›› 2019, Vol. 31 ›› Issue (4): 733-739.doi: 10.16182/j.issn1004731x.joss.17-0133

动态受限机械臂的局部加权学习控制

王刚¹, 孙太任¹, 丁胜培²

1. 江苏大学电气信息工程学院,江苏镇江 212013;
2. 广东工业大学,广东广州 510006

收稿日期:2017-03-21 修回日期:2017-04-21 出版日期:2019-04-08 发布日期:2019-11-20
作者简介:王刚(1993-),男,安徽芜湖,硕士生,研究方向为智能控制的研究; 孙太任(1985-),男,山东临沂,博士,副教授,研究方向为智能控制的研究;丁胜培(1983-),男,山东潍坊,博士,研究方向为信号分析与智能控制研究。
基金资助:
国家自然科学基金(61503158), 广东省自然科学基金(2014A030310257)

Locally Weighted Learning Control for Dynamic Restricted Manipulators

Wang Gang¹, Sun Tairen¹, Ding Shengpei²

1. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China;
2. Guangdong University of Technology, Guangzhou 510006, China

Received:2017-03-21 Revised:2017-04-21 Online:2019-04-08 Published:2019-11-20

摘要/Abstract

摘要： 针对带有状态和输入约束的机械臂不确定系统模型,提出了基于障碍李雅普诺夫函数的局部加权学习控制方法。将系统控制输入看作扩展状态,从而将该控制问题转化为带有扩展状态约束的不确定非线性系统控制问题。将障碍李雅普诺夫函数引入到反步法,设计局部加权学习控制,保证障碍李雅普诺夫函数指数收敛到零点一个小邻域,进而保证了系统状态、输入约束的满足和跟踪误差的收敛。通过理论分析和仿真实验验证了所设计控制器的可行性和有效性。

关键词: 神经网络控制, 移动机械臂, 障碍函数, 局部加权学习, 系统约束

Abstract: This paper proposes a locally weighted learning control law for a manipulator with state and input constraints and modeling uncertainties. By visualizing the control input as an extended state, the control problem is converted into control design for a state-constraint uncertain nonlinear system. Barrier Lyapunov functions are introduced into a backstepping procedure and a locally weighted learning control is designed, which ensures the exponential convergence of the barrier functions to a small neighborhood of zero and then guarantees satisfaction of system constraints and the tracking error convergence. The control feasibility and effectiveness is validated by theoretical analysis and simulation results.

Key words: neural network control, mobile robot manipulator, barrier function, locally weighted learning, system constraints

中图分类号:

TP241

王刚, 孙太任, 丁胜培. 动态受限机械臂的局部加权学习控制[J]. 系统仿真学报, 2019, 31(4): 733-739.

Wang Gang, Sun Tairen, Ding Shengpei. Locally Weighted Learning Control for Dynamic Restricted Manipulators[J]. Journal of System Simulation, 2019, 31(4): 733-739.

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动态受限机械臂的局部加权学习控制

Locally Weighted Learning Control for Dynamic Restricted Manipulators

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