|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*
International Journal of Control, Automation, and Systems, vol. 18, no. 9, pp.2423-2434, 2020
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.
Keyword : Adaptive control, RBF network, robot manipulator, unknown deadzone.