基于外环速度补偿的封闭机器人确定学习控制.pptxVIP

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基于外环速度补偿的封闭机器人确定学习控制.pdf5c61910c-8bbb-4a42-855d-196101d8eb5f基于外环速度补偿的封闭机器人确定学习控制王敏1,?2林梓欣1王聪3杨辰光1摘????要针对未开放力矩控制接口的一类封闭机器人系统,?提出一种基于外环速度补偿的确定学习控制方案.?该控制方案考虑机器人受到未知动力学影响,?且具有未知内环比例积分(Proportional-integral,?PI)速度控制器.?首先,?利用宽度径向基函数(Radial?basis?function,?RBF)神经网络对封闭机器人的内部未知动态进行逼近,?设计外环自适应神经网络速度控制指令.?在实现封闭机器人稳定控制的基础上,?结合确定学习理论证明了宽度RBF神经网络的学习能力,?提出基于确定学习的高精度速度控制指令.?该控制方案能够保证被控封闭机器人系统的所有信号最终一致有界且跟踪误差收敛于零的小邻域内.?在所提控制方案中,?通过引入外环补偿控制思想和宽度神经网络动态增量节点方式,?减小了设备计算负荷,?提高了速度控制下机器人的运动性能,?解决了市场上封闭机器人系统难以设计力矩控制的难题,?实现了不同工作任

基于外环速度补偿的封闭机器人确定学习控制.pdf务下的高精度控制.?最后数值系统仿真结果和UR5机器人实验结果验证了该方案的有效性.关键词确定学习,?速度补偿控制,?神经网络,?封闭机器人引用格式王敏,?林梓欣,?王聪,?杨辰光.基于外环速度补偿的封闭机器人确定学习控制.?自动化学报,?2023,49(9):?1904?1914DOI??10.16383/j.aas.c220575Deterministic?Learning?of?Manipulators?With?Closed?ArchitectureBased?on?Outer-loop?Speed?Compensation?ControlWANG?Min1,?2???LIN?Zi-Xin1???WANG?Cong3???YANG?Chen-Guang1Abstract??In?this?paper,?a?deterministic?learning?outer-loop?speed?compensation?control?scheme?is?proposed?for?acla

基于外环速度补偿的封闭机器人确定学习控制.pdfss?of?manipulator?systems?with?closed?architecture?and?without?open?torque?control?interface.?The?proposedscheme?focuses?on?that?the?manipulator?is?affected?by?unknown?modelling?dynamics?and?has?an?unknown?inner-loopproportional-integral?(PI)?speed?controller.?Firstly,?the?broad?radial?basis?function?(RBF)?neural?network?is?used?toapproximate?the?internal?unknown?dynamics?of?the?manipulator?with?closed?architecture,?and?the?outer-loop?adapt-ive?neural?network?speed?control?command?is?designed?by?using?the?Lyapunov?function.?Based?on?the?stable?control?of?man-ipulator?with?closed?architecture,

基于外环速度补偿的封闭机器人确定学习控制.pdfthe?dynamic?learning?ability?of?RBF?neural?network?is?verified,?and?then?the?high-accuracy?speed?control?command?is?designed?based?on?the?deterministic?learning?theory.?The?proposed?control?sch-eme?guarantees?that?all?signals?of?the?manipulator?system?with?closed?architecture?are?ultimately?uniformly?boun-ded