Regular Paper

International Journal of Control, Automation and Systems 2020; 18(9): 2423-2434

Published online April 7, 2020

https://doi.org/10.1007/s12555-019-0513-7

© The International Journal of Control, Automation, and Systems

Adaptive Trajectory Neural Network Tracking Control for Industrial Robot Manipulators with Deadzone Robust Compensator

La Van Truong, ShouDao Huang, Vu Thi Yen, and Pham Van Cuong*

Hanoi University of Industry

Abstract

This paper proposed a novel adaptive tracking neural network with deadzone robust compensator for Industrial Robot Manipulators (IRMs) to achieve the high precision position tracking performance. In order, to deal the uncertainty, the unknown deadzone effect, the unknown dynamics, and disturbances of robot system, the Radial Basis function neural networks (RBFNNs) control is presented to control the joint position and approximate the unknown dynamics of an n-link robot manipulator. The online adaptive control training laws and estimation of the dead-zone are determined by Lyapunov stability and the approximation theory, so that the stability of the entire system and the convergence of the weight adaptation are guaranteed. In this controller, a robust compensator is constructed as an auxiliary controller to guarantee the stability and robustness under various environments such as the mass variation, the external disturbances and modeling uncertainties. The proposed control is the verified on a three-joint robot manipulators via simulations and experiments in comparison with PID and Neural networks (NNs) Control.

Keywords Adaptive control, RBF network, robot manipulator, unknown deadzone.

Article

Regular Paper

International Journal of Control, Automation and Systems 2020; 18(9): 2423-2434

Published online September 1, 2020 https://doi.org/10.1007/s12555-019-0513-7

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive Trajectory Neural Network Tracking Control for Industrial Robot Manipulators with Deadzone Robust Compensator

La Van Truong, ShouDao Huang, Vu Thi Yen, and Pham Van Cuong*

Hanoi University of Industry

Abstract

This paper proposed a novel adaptive tracking neural network with deadzone robust compensator for Industrial Robot Manipulators (IRMs) to achieve the high precision position tracking performance. In order, to deal the uncertainty, the unknown deadzone effect, the unknown dynamics, and disturbances of robot system, the Radial Basis function neural networks (RBFNNs) control is presented to control the joint position and approximate the unknown dynamics of an n-link robot manipulator. The online adaptive control training laws and estimation of the dead-zone are determined by Lyapunov stability and the approximation theory, so that the stability of the entire system and the convergence of the weight adaptation are guaranteed. In this controller, a robust compensator is constructed as an auxiliary controller to guarantee the stability and robustness under various environments such as the mass variation, the external disturbances and modeling uncertainties. The proposed control is the verified on a three-joint robot manipulators via simulations and experiments in comparison with PID and Neural networks (NNs) Control.

Keywords: Adaptive control, RBF network, robot manipulator, unknown deadzone.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

Stats or Metrics

Share this article on

  • line

Related articles in IJCAS

IJCAS

eISSN 2005-4092
pISSN 1598-6446