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Title:

Adaptive Neural Backstepping Control for Flexible-Joint Robot Manipulator with Bounded Torque Inputs

Document type:
Zeitschriftenaufsatz
Author(s):
Cheng, Xin; Zhang, Yajun; Liu, Huashan; Wollherr, Dirk; Buss, Martin
Abstract:
Aiming at tracking control with bounded torque inputs of the flexible-joint robot manipulators, we propose a generalized saturated adaptive controller based on backstepping control, singular perturbation decoupling and neural networks. First, by using the singular perturbation theory, the full-order rigidflexible dynamics of the robot manipulator is decoupled into a slow subsystem and a fast subsystem. Second, saturated sub-controller by backstepping method is proposed for the slow subsystem...     »
Keywords:
Flexible-joint robot Bounded input Singular perturbation Backstepping control Saturated neural network approximator
Journal title:
Neurocomputing
Year:
2021
Journal volume:
458
Year / month:
2021-06
Month:
Jun
Pages contribution:
70-86
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1016/j.neucom.2021.06.013
Publisher:
Elsevier
Submitted:
26.09.2020
Accepted:
06.06.2021
Date of publication:
08.06.2021
Semester:
SS 21
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