收藏 | 手机打开

Adaptive Dynamic Programming-Based Sliding Mode Optimal Position-Force Control for Reconfigurable Manipulators with Uncertain Disturbance

Xinye Zhu  Bing Ma  Bo Dong  Keping Liu  Yuanchun Li  
【摘要】:In this paper, a sliding mode optimal position-force control method is proposed for constrained reconfigurable manipulators with disturbance based on adaptive dynamic programming(ADP) method and policy iteration(PI) algorithm. The sliding mode control is developed to compensate the model uncertainties, and the improved performance index function includes the sliding mode function and disturbance function. Then, the position-force control problem of the reconfigurable manipulator system under disturbance is transformed into an optimal control issue. The solution of Hamiltonian-Jacobi-Bellman(HJB) equation can be solved by using ADP and PI methods, and then the approximated sliding mode optimal control policy can be derived by constructing the critic neural network(NN). The closed-loop robotic system is proved to be asymptotic stability by using Lyapunov theory. Finally, simulations are provided to demonstrate the effectiveness of the proposed method.

中国期刊全文数据库 前20条
1 Sen CHEN;Wenyan BAI;Yu HU;Yi HUANG;Zhiqiang GAO;;On the conceptualization of total disturbance and its profound implications[J];Science China(Information Sciences);2020年02期
2 Sanketh Rampes;Katie Ma;Yasmin Amy Divecha;Azeem Alam;Daqing Ma;;Postoperative sleep disorders and their potential impacts on surgical outcomes[J];The Journal of Biomedical Research;2020年04期
3 Yukai ZHU;Lei GUO;Xiang YU;Yuan YUAN;;An enhanced anti-disturbance control law for systems with multiple disturbances[J];Science China(Information Sciences);2020年10期
4 BI TianShu;QIN JunDa;;The study of disturbance sources energy size identification based on free energy theory[J];Science China(Technological Sciences);2018年02期
5 Bruno Hérault;Camille Piponiot;;Key drivers of ecosystem recovery after disturbance in a neotropical forest Long-term lessons from the Paracou experiment, French Guiana[J];Forest Ecosystems;2018年01期
6 李然然;;The association of olanzapine-induced metabolic disturbance related measures with TCF7L2 gene expression[J];China Medical Abstracts(Internal Medicine);2017年01期
7 Chunyan WANG;Zongyu ZUO;Qinghai GONG;Zhengtao DING;;Formation control with disturbance rejection for a class of Lipschitz nonlinear systems[J];Science China(Information Sciences);2017年07期
8 Hao FENG;Guang ZENG;Wenbao HAN;Yang YANG;;New strategy for searching disturbance vector of SHA-1 collision attack[J];Science China(Information Sciences);2017年12期
9 孙新宇;;Relationship of sleep disturbance and therapeutic effect of depression in elderly inpatients:an observational 1-year follow-up study[J];China Medical Abstracts(Internal Medicine);2016年01期
10 李芳毅;王东;王双;李默;银振强;李宏伟;陈巍;韩正甫;;Effect of electromagnetic disturbance on the practical QKD system in the smart grid[J];Chinese Physics B;2014年12期
11 Wei-dong Cao;Qi-xiang Hu;Bing Liu;;Receptivity of plane Poiseuille flow to local micro-vibration disturbance on wall[J];Water Science and Engineering;2015年02期
12 TANG YuChen;ZENG Guang;HAN WenBao;;Classification of disturbance vectors for collision attack in SHA-1[J];Science China(Information Sciences);2015年11期
13 许立忠;郝秀红;;Dynamics of mechanical system for electromechanical integrated toroidal drive under electric disturbance[J];Journal of Central South University;2014年04期
14 Hussain Shareef;Azah Mohamed;Ahmad Asrul Ibrahim;;Identification of voltage sag source location using S and TT transformed disturbance power[J];Journal of Central South University;2013年01期
15 李红霞;范吉阳;苏富芳;吴福全;祝世宁;;Suppressing the disturbance in the transmission spectrum of Glan-Thompson-type prism polarizers[J];Chinese Optics Letters;2010年04期
16 ;IEC发布的新标准[J];安全与电磁兼容;2010年02期
17 ;Inflammatory mediators and microcirculatory disturbance in acute pancreatitis[J];Hepatobiliary & Pancreatic Diseases International;2009年04期
18 ;Stability analysis for a second-order continuous finite-time control system subject to a disturbance[J];Journal of Control Theory and Applications;2009年03期
19 罗俊;齐乐华;李莉;杨方;蒋小珊;;Numerical simulation of jet breakup due to amplitude-modulated (A-M) disturbance[J];Transactions of Nonferrous Metals Society of China;2008年03期
20 刘继红;Rehabilitation of mental disturbance in patients with stroke[J];中国临床康复;2003年01期
中国重要会议论文全文数据库 前20条
1 Peng Cheng;Yanyan Yin;Yanqing Liu;Feng Pan;;Fuzzy Event-triggered Disturbance Rejection Control of Nonlinear Systems[A];第31届中国过程控制会议(CPCC 2020)摘要集[C];2020年
2 赵圆圆;;Heisenberg's error-disturbance relations: A joint measurement-based experimental test[A];第十八届全国量子光学学术会议摘要集[C];2018年
3 Lei Yang;Minjie Zhang;Lin Tian;Ping Wang;;Improved Phase Plane Attitude Control of Space Vehicles with Extended State Observer Considering Disturbance and Thruster Dynamics[A];第32届中国控制与决策会议论文集(2)[C];2020年
4 Xuming Wang;Hao Sun;Shihua Li;Jun Yang;;Multi-source Disturbance Observer Based Continuous Sliding Mode Control for Fuel Quantity Actuator System[A];第32届中国控制与决策会议论文集(2)[C];2020年
5 Zuling Song;Yongji Wang;Lei Liu;Zhongtao Cheng;Ye Yang;;Research on Attitude Control of Quadrotor UAV Based on Active Disturbance Rejection Control[A];第32届中国控制与决策会议论文集(2)[C];2020年
6 Yaohong Qu;Bing Yang;Ziquan Yu;Yuanjie Song;Ying Sun;;Active Visual Servo Pan/Tilt Control Design based on Improved Augmented LQR[A];第32届中国控制与决策会议论文集(1)[C];2020年
7 Tao Xiong;Dangdang Zou;Gan Zhou;;Equivalent Fuzzy Sliding Mode Control of the Web Tension in Unwinding System[A];第32届中国控制与决策会议论文集(3)[C];2020年
8 Xinye Zhu;Bing Ma;Bo Dong;Keping Liu;Yuanchun Li;;Adaptive Dynamic Programming-Based Sliding Mode Optimal Position-Force Control for Reconfigurable Manipulators with Uncertain Disturbance[A];第32届中国控制与决策会议论文集(3)[C];2020年
9 Zhang Lei;Xu Bo;Ji Wei;He Runxin;Ding Yi;Ding shihong;;Composite Sliding Mode Control for PMSM Speed Regulation System[A];第32届中国控制与决策会议论文集(3)[C];2020年
10 Yiming Xu;Kangkang Dou;Li Wang;Chunyu Yang;Kai Wang;;Composite control of flexible manipulators based on SMC-DO and LQR[A];第32届中国控制与决策会议论文集(3)[C];2020年
11 Ma Yiming;Ping Boyu;Liu Gongqing;Liao Yongwen;Zeng Deliang;;Feedforward Feedback Control Based on DQN[A];第32届中国控制与决策会议论文集(3)[C];2020年
12 朱道民;张玉;张存;朱佳佳;;The relationship between sleep efficiency and clinical symptoms is mediated by brain function in major depressive disorder[A];中国睡眠研究会第十二届全国学术年会论文汇编[C];2020年
13 乐卫东;;Sleep disturbance and neurodegenerative diseases[A];第九届北京睡眠高峰论坛资料汇编[C];2018年
14 ;Optimal disturbance rejection with zero steady-state error for time-delay large-scale systems with persistent disturbances[A];2009中国控制与决策会议论文集(2)[C];2009年
15 ;Estimation of States and Periodic Disturbance Inputs[A];Proceedings of 2010 Chinese Control and Decision Conference[C];2010年
16 ;Composite Hierarchical Anti-disturbance Control for A Class of Nonlinear Systems with Multi-source Disturbance[A];第24届中国控制与决策会议论文集[C];2012年
17 ;Partial synchronization of Hindmarsh-Rose neurons via active disturbance rejection control[A];第24届中国控制与决策会议论文集[C];2012年
18 Xuxi Zhang;Xianping Liu;;Consensus of linear multi-agent systems with disturbance generated from heterogeneous nonlinear exosystems[A];第36届中国控制会议论文集(E)[C];2017年
19 ;Disturbance Rejection and H_∞ Pinning Control of Networked Multi-Agent Systems[A];第二十七届中国控制会议论文集[C];2008年
20 ;Nonlinear Disturbance Observer Based Control for Systems with Arbitrary Disturbance Relative Degree[A];中国自动化学会控制理论专业委员会C卷[C];2011年
中国博士学位论文全文数据库 前4条
1 Haider Sajjad Ali;含非平稳干扰的模型辨识及其在模型预测控制中的应用[D];重庆大学;2014年
2 Amr Ahmed Roshdy Mahmoud;[D];长春理工大学;2013年
3 Ihsan Ullah;[D];华南理工大学;2019年
4 Werneld Egno Ngongi;[D];大连海事大学;2015年
中国硕士学位论文全文数据库 前6条
1 张小余;基于有声数据库方法的口译言误对认知障碍的映射[D];湖南大学;2016年
2 Muhammad Javed Iqbal(简一);[D];华北电力大学;2015年
3 Dmitry Semenov;[D];哈尔滨工业大学;2016年
4 沈文娟;南方人工林森林干扰和恢复遥感监测研究[D];南京林业大学;2014年
5 杰弗斯(Jeffers Teargun Heptol);基于改进S变换的电能质量扰动的研究[D];东北大学;2009年
6 袁瑞;三维垂直结构阻变存储器架构和电路关键问题研究[D];复旦大学;2013年
中国重要报纸全文数据库 前1条
1 张广深;ED并不难治[N];中国医药报;2005年
 快捷付款方式  订购知网充值卡  订购热线  帮助中心
  • 400-819-9993
  • 010-62982499
  • 010-62783978