A neural flexible PID controller for task-space control of robotic manipulators.
| Autor: | Minh Nguyet NT; Faculty of Electrical and Electronics Engineering, HCMC University of Technology and Education (HCMUTE), Ho Chi Minh City, Vietnam., Ba DX; Department of Automatic Control and Smart Robotic Center, HCMC University of Technology and Education (HCMUTE), Ho Chi Minh City, Vietnam. |
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| Jazyk: | angličtina |
| Zdroj: | Frontiers in robotics and AI [Front Robot AI] 2023 Jan 04; Vol. 9, pp. 975850. Date of Electronic Publication: 2023 Jan 04 (Print Publication: 2022). |
| DOI: | 10.3389/frobt.2022.975850 |
| Abstrakt: | This paper proposes an adaptive robust Jacobian-based controller for task-space position-tracking control of robotic manipulators. Structure of the controller is built up on a traditional Proportional-Integral-Derivative (PID) framework. An additional neural control signal is next synthesized under a non-linear learning law to compensate for internal and external disturbances in the robot dynamics. To provide the strong robustness of such the controller, a new gain learning feature is then integrated to automatically adjust the PID gains for various working conditions. Stability of the closed-loop system is guaranteed by Lyapunov constraints. Effectiveness of the proposed controller is carefully verified by intensive simulation results. Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest. (Copyright © 2023 Minh Nguyet and Ba.) |
| Databáze: | MEDLINE |
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