Neuro-adaptive force/position control with prescribed performance and guaranteed contact maintenance

IEEE Transactions on Neural Networks

Volumn 21, Issue 12, 2010, Pages 1857-1868

  Bechlioulis, Charalampos P ^a   Doulgeri, Zoe ^a   Rovithakis, George A ^a  

^a ARISTOTLE UNIVERSITY OF THESSALONIKI   (Greece)

Author keywords

Contact maintenance; force position tracking; neuro adaptive control; prescribed performance

Indexed keywords

6-DOF ROBOTS; ACCURACY LEVEL; CONTACT MAINTENANCE; CONTROL OBJECTIVES; CONTROLLER GAIN; FORCE DEFORMATION; FORCE/POSITION CONTROL; FORCE/POSITION TRACKING; MODELING ERRORS; NEURAL NETWORK APPROXIMATION; NEURO-ADAPTIVE CONTROL; NON-LINEARITY; PRESCRIBED PERFORMANCE; SIMULATION RESULT; SPEED OF RESPONSE;

ADAPTIVE CONTROL SYSTEMS; CONTROLLERS; DEFORMATION; MAINTENANCE; REUSABLE ROCKETS;

NEURAL NETWORKS;

EID: 78650052859     PISSN: 10459227     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNN.2010.2076302     Document Type: Article

References (42)

1. E. Brinksmeier, H. K. Tönshoff, C. Czenkusch, and C. Heinzel, "Modelling and optimization of grinding processes," J. Intell. Manuf., vol. 9, no. 4, pp. 303-314, 1998.
2. T. Stepien, L. Sweet, M. Good, and M. Tomizuka, "Control of tool/workpiece contact force with application to robotic deburring," IEEE J. Robot. Autom., vol. 3, no. 1, pp. 7-18, Feb. 1987.
3. Y. Zheng and W.-H. Qian, "A fast procedure for optimizing dynamic force distribution in multifingered grasping," IEEE Trans. Syst., Man, Cybern. Part B: Cybern., vol. 36, no. 6, pp. 1417-1422, Dec. 2006.
4. H. N. Cannon, C. R. Stoker, S. E. Dunagan, K. Davis, J. Gómez-Elvira, B. J. Glass, L. G. Lemke, D. Miller, R. Bonaccorsi, M. Branson, S. Christa, J. A. Rodríguez-Manfredi, E. Mumm, G. Paulsen, M. Roman, A. Winterholler, and J. R. Zavaleta, "MARTE: Technology development and lessons learned from a Mars drilling mission simulation," J. Field Robot., vol. 24, no. 10, pp. 877-905, Oct. 2007.
5. T. Olsson, M. Haage, H. Kihlman, R. Johansson, K. Nilsson, A. Robertsson, M. Björkman, R. Isaksson, G. Ossbahr, T. Brogårdh, "Costefficient drilling using industrial robots with high-bandwidth force feedback," Robot. Comput. Integr. Manuf., vol. 26, no. 1, pp. 24-38, Feb. 2010.
6. C. C. Cheah, S. Kawamura, and S. Arimoto, "Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties," Automatica, vol. 39, no. 5, pp. 847-855, May 2003.
7. C. C. Cheah, Y. Zhao, and J. Slotine, "Adaptive Jacobian motion and force tracking control for constrained robots with uncertainties," in Proc. IEEE Int. Conf. Robot. Autom., May 2006, pp. 2226-2231. (Pubitemid 44940397)
8. M.-C. Hwang and X. Hu, "A robust position/force learning controller of manipulators via nonlinear H8 control and neural networks," IEEE Trans. Syst., Man, Cybern. Part B: Cybern., vol. 30, no. 2, pp. 310-321, Apr. 2000.
9. V. Lippiello, B. Siciliano, and L. Villani, "Robot force/position control with force and visual feedback," in Proc. Eur. Control Conf., 2007, pp. 3790-3795.
10. A. Loria and E. Panteley, "Force/motion control of constrained manipulators without velocity measurements," IEEE Trans. Autom. Control, vol. 44, no. 7, pp. 1407-1412, Jul. 1999.
11. E. V. Panteley and A. A. Stotsky, "Adaptive trajectory/force control scheme for constrained robot manipulators," Int. J. Adapt. Control Signal Process., vol. 7, no. 6, pp. 489-496, Nov. 1993.
12. M. S. De Queiroz, J. Hu, D. M. Dawson, T. Burg, and S. R. Donepudi, "Adaptive position/force control of robot manipulators without velocity measurements: Theory and experimentation," IEEE Trans. Syst., Man, Cybern., Part B: Cybern., vol. 27, no. 5, pp. 796-809, Sep. 1997.
13. D. Xiao, B. K. Ghosh, N. Xi, and T. J. Tarn, "Sensor-based hybrid position/force control of a robot manipulator in an uncalibrated environment," IEEE Trans. Control Syst. Technol., vol. 8, no. 4, pp. 635-645, Jul. 2000.
14. M. Namvar and F. Aghili, "Adaptive force-motion control of coordinated robot interacting with geometrically unknown environments," IEEE Trans. Robot., vol. 21, no. 4, pp. 678-694, Aug. 2005.
15. T. Yoshikawa and A. Sudou, "Dynamic hybrid position/force control of robot manipulators-on-line estimation of unknown constraint," IEEE Trans. Robot. Autom., vol. 9, no. 2, pp. 220-226, Apr. 1993.
16. Z. Doulgeri and Y. Karayiannidis, "Force position control for a robot finger with a soft tip and kinematic uncertainties," Robot. Auton. Syst., vol. 55, no. 4, pp. 328-336, Apr. 2007.
17. Z. Doulgeri and Y. Karayiannidis, "Force/position control self-tuned to unknown surface slopes using motion variables," Robotica, vol. 26, no. 6, pp. 703-710, Nov. 2008.
18. M. Namvar and F. Aghili, "Adaptive force control of robots in presence of uncertainty in environment," in Proc. IEEE Int. Conf. Robot. Autom., Jun. 2006, pp. 3253-3258.
19. S. Arimoto, Control Theory of Non-Linear Mechanical Systems: A Passivity-Based and Circuit-Theoretic Approach. London, U.K.: Oxford Univ. Press, 1996.
20. R. Careli, R. Kelly, and R. Ortega, "Adaptive force control of robot manipulators," Int. J. Control, vol. 52, no. 1, pp. 37-54, Jul. 1990.
21. S. Chiaverini, B. Siciliano, and L. Villani, "Force and position tracking: Parallel control with stiffness adaptation," IEEE Control Syst. Mag., vol. 18, no. 1, pp. 27-33, Feb. 1998.
22. Y. Karayiannidis, G. Rovithakis, and Z. Doulgeri, "Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control," Automatica, vol. 43, no. 7, pp. 1281-1288, Jul. 2007. (Pubitemid 46802435)
23. C. M. Kwan, A. Yesildirek, and F. L. Lewis, "Robust force/motion control of constrained robots using neural network," J. Robot. Syst., vol. 16, no. 12, pp. 697-714, Dec. 1999.
24. L. Villani, C. C. De Wit, and B. Brogliato, "An exponentially stable adaptive control for force and position tracking of robot manipulators," IEEE Trans. Autom. Control, vol. 44, no. 4, pp. 798-802, Apr. 1999.
25. C. P. Bechlioulis and G. A. Rovithakis, "Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance," IEEE Trans. Autom. Control, vol. 53, no. 9, pp. 2090-2099, Oct. 2008.
26. C. P. Bechlioulis and G. A. Rovithakis, "Adaptive control with guaranteed transient and steady state tracking error bounds for strict feedback systems," Automatica, vol. 45, no. 2, pp. 532-538, Feb. 2009.
27. P. Afshar, H. Wang, and T. Chai, "An ILC-based adaptive control for general stochastic systems with strictly decreasing entropy," IEEE Trans. Neural Netw., vol. 20, no. 3, pp. 471-482, Mar. 2009.
28. Y. Boutalis, D. C. Theodoridis, and M. A. Christodoulou, "A new neuro-FDS definition for indirect adaptive control of unknown nonlinear systems using a method of parameter hopping," IEEE Trans. Neural Netw., vol. 20, no. 4, pp. 609-625, Apr. 2009.
29. F. L. Lewis, K. Liu, and A. Yesildirek, "Neural net robot controller with guaranteed tracking performance," IEEE Trans. Neural Netw., vol. 6, no. 3, pp. 703-715, May 1995.
30. J.-H. Park, S.-H. Kim, and C.-J. Moon, "Adaptive neural control for strict-feedback nonlinear systems without backstepping," IEEE Trans. Neural Netw., vol. 20, no. 7, pp. 1204-1209, Jul. 2009.
31. G. A. Rovithakis, "Stable adaptive neuro-control design via Lyapunov function derivative estimation," Automatica, vol. 37, no. 8, pp. 1213- 1221, Aug. 2001.
32. G. A. Rovithakis, "Robust redesign of a neural network controller in the presence of unmodeled dynamics," IEEE Trans. Neural Netw., vol. 15, no. 6, pp. 1482-1490, Nov. 2004.
33. R. M. Sanner and J.-J. E. Slotine, "Gaussian networks for direct adaptive control," IEEE Trans. Neural Netw., vol. 3, no. 6, pp. 837-863, Nov. 1992.
34. H.-N. Wu and H.-X. Li, "Adaptive neural control design for nonlinear distributed parameter systems with persistent bounded disturbances," IEEE Trans. Neural Netw., vol. 20, no. 10, pp. 1630-1644, Oct. 2009.
35. K. L. Johnson, Contact Mechanics. Cambridge, U.K.: Cambridge Univ. Press, 1985.
36. S. Arimoto, P. T. A. Nguyen, H.-Y. Han, and Z. Doulgeri, "Dynamics and control of a set of dual finger with soft tips," Robotica, vol. 18, no. 1, pp. 71-80, Jan. 2000.
37. N. E. Cotter, "The Stone-Weierstrass theorem and its applications to neural networks," IEEE Trans. Neural Netw., vol. 1, no. 4, pp. 290-295, Dec. 1990.
38. M. M. Gupta and D. H. Rao, Neuro-Control Systems: Theory and Applications. Piscataway, NJ: IEEE Press, 1994.
39. G. A. Rovithakis and M. A. Christodoulou, Adaptive Control with Recurrent High-Order Neural Networks. London, U.K.: Springer-Verlag, 2000.
40. L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators. London, U.K.: Springer-Verlag, 2000.
41. J.-J. E. Slotine and W. Li, "Composite adaptive control of robot manipulators," Automatica, vol. 25, no. 4, pp. 509-519, Jul. 1989.
42. B. Armstrong, O. Khatib, and J. Burdick, "The explicit dynamic model and inertial parameters of the PUMA 560 arm," in Proc. IEEE Int. Conf. Robot. Autom., vol. 3. Apr. 1986, pp. 510-518.