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Modified Primal-Dual Neural Networks for Motion Control of Redundant Manipulators With Dynamic Rejection of Harmonic Noises
Li, Shuai1; Zhou, MengChu2,3; Luo, Xin4
2018-10-01
摘要In recent decades, primal-dual neural networks, as a special type of recurrent neural networks, have received great success in real-time manipulator control. However, noises are usually ignored when neural controllers are designed based on them, and thus, they may fail to perform well in the presence of intensive noises. Harmonic noises widely exist in real applications and can severely affect the control accuracy. This work proposes a novel primal-dual neural network design that directly takes noise control into account. By taking advantage of the fact that the unknown amplitude and phase information of a harmonic signal can be eliminated from its dynamics, our deliberately designed neural controller is able to reach the accurate tracking of reference trajectories in a noisy environment. Theoretical analysis and extensive simulations show that the proposed controller stabilizes the control system polluted by harmonic noises and converges the position tracking error to zero. Comparisons show that our proposed solution consistently and significantly outperforms the existing primal-dual neural solutions as well as feedforward neural one and adaptive neural one for redundancy resolution of manipulators.
关键词Dual neural network kinematic control redundancy resolution robotic manipulator
DOI10.1109/TNNLS.2017.2770172
发表期刊IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
ISSN2162-237X
卷号29期号:10页码:4791-4801
通讯作者Zhou, MengChu(zhou@njit.edu) ; Luo, Xin(luoxin21@cigit.ac.cn)
收录类别SCI
WOS记录号WOS:000445351300020
语种英语