Adaptive-backstepping forcemotion control for mobile-manipulator robot based on fuzzy CMAC neural networks-基于模糊CMAC神经网络的移动机械手自适应反步控制.pdfVIP

Control Theory Tech, Vol. 12, No. 4, pp. 368–382, November 2014 Control Theory and Technology /journal/11768 Adaptive-backstepping force/motion control for mobile-manipulator robot based on fuzzy CMAC neural networks Thang-Long MAI 1,2 †, Yaonan WANG 1 1.College of Electrical and Information Engineering, Hunan University, Changsha Hunan 410082, China; 2.Faculty of Electronics Engineering, Industrial University of Hochiminh City, Hochiminh City, Vietnam Received 2 May 2014; revised 14 November 2014; accepted 17 November 2014 Abstract: In this paper, an adaptive backstepping fuzzy cerebellar-model-articulation-control neural-networks control (ABFCNC) system for motion/force control of the mobile-manipulator robot (MMR) is proposed. By applying the ABFCNC in the tracking-position controller, the unknown dynamics and parameter variation problems of the MMR control system are relaxed. In addition, an adaptive robust compensator is proposed to eliminate uncertainties that consist of approximation errors, uncertain disturbances. Based on the tracking position-ABFCNC design, an adaptive robust control strategy is also developed for the nonholonomic- constraint force of the MMR. The design of adaptive-online learning algorithms is obtained by using the Lyapunov stability theorem. Therefore, the proposed method proves that it not only can guarantee the stability and robustness but also the tracking performances of the MMR control system. The effectiveness and robustness of the proposed control system are verified by comparative simulation results. Keywords: Backstepping control; Fuzzy CM