Adaptive Fuzzy Neural Network Control for a Constrained Robot Using Impedance Learning

• Published in: IEEE transaction on neural networks and learning systems Vol. 29; no. 4; pp. 1174 - 1186
• Main Authors: He, Wei, Dong, Yiting
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.04.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive systems; Artificial neural networks; Computer simulation; constraint; Constraint modelling; Control stability; Force; Fuzzy control; Fuzzy logic; fuzzy logic control; Impedance; impedance learning; Learning; Liapunov functions; Machine learning; Network control; Neural networks; neural networks (NN); robot; Robots; Stability analysis; System dynamics; Uncertainty
• ISSN: 2162-237X; 2162-2388; 2162-2388
• DOI: 10.1109/TNNLS.2017.2665581

This paper investigates adaptive fuzzy neural network (NN) control using impedance learning for a constrained robot, subject to unknown system dynamics, the effect of state constraints, and the uncertain compliant environment with which the robot comes into contact. A fuzzy NN learning algorithm is developed to identify the uncertain plant model. The prominent feature of the fuzzy NN is that there is no need to get the prior knowledge about the uncertainty and a sufficient amount of observed data. Also, impedance learning is introduced to tackle the interaction between the robot and its environment, so that the robot follows a desired destination generated by impedance learning. A barrier Lyapunov function is used to address the effect of state constraints. With the proposed control, the stability of the closed-loop system is achieved via Lyapunov's stability theory, and the tracking performance is guaranteed under the condition of state constraints and uncertainty. Some simulation studies are carried out to illustrate the effectiveness of the proposed scheme.