Intelligent robust tracking control for multi-arm mobile manipulators using a fuzzy cerebellar model articulation controller neural network

Abstract

This article originally analyses intelligent robust tracking for multi-arm fruit-harvesting mobile manipulators (MAFHMMs) with delayed angle-velocity uncertainties. The MAFHMMs are composed of two parts: a crawler-type mobile platform and a four-arm harvesting manipulator. The method proposed here does not require a matching condition for the non-linear uncertainties. A fuzzy cerebellar model articulation controller (CMAC) neural network system is used to approximate an unknown controlled system from the strategic manipulation of the model following the tracking errors. In addition, an adaptive robust compensator is presented to compensate for the uncertainties. Based on the Lyapunov stability theory and neural network approximation capability, several sufficient conditions are derived, which guarantee the convergence of the closed-loop error system. Both simulation and experimental results show the superior control performance of the proposed intelligent control method.

Keywords

fuzzy CMAC neural network fruit harvesting mobile manipulators lyapunov stability theorem intelligent robust tracking multi-arm

Get full access to this article

View all access options for this article.

References

Sakai

Osuka

Maekawa

Umeda

Robust control systems of a heavy material handling agricultural robot: a case study for initial cost problem. IEEE Trans. Control Syst. Technol., 2007, 15(6), 1038–1048.

Edan

Miles

G. E.

Systems engineering of agricultural robot design. IEEE Trans. Syst., Man Cybern., 1994, 24(8), 1259–1265.

Vanhenten

Hemming

Vantuijl

Kornet

Meuleman

An autonomous robot for harvesting cucumbers in greenhou. Auton. Robots, 2002, 13(2), 241–258.

Park

B. S.

Yoo

S. J.

Park

J. B.

Choi

Y. H.

Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertainty. IEEE Trans. Control Syst. Technol., 2009, 17(1), 207–214.

Das

Kar

Design and implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots. IEEE Trans. Control Syst. Technol., 2006, 14(3), 501–510.

Receding horizon tracking control of wheeled mobile robots. IEEE Trans. Control. Syst. Technol., 2006, 14(4), 743–749.

Hung

N. V. Q.

Tuan

H. D.

Narikiyo

Apkarian

Adaptive control for nonlinearly parameterized uncertainties in robot manipulators. IEEE Trans. Control Syst. Technol., 2008, 16(3), 458–468.

Aguinaga-Ruiz

Zavala-Rio

Santibanez

Global trajectory tracking through static feedback for robot manipulators with bounded inputs. IEEE Trans. Control Syst. Technol., 2009, 17(4), 934–944.

Sun

Shao

Global stability of a saturated nonlinear PID controller for robot manipulators. IEEE Trans. Control Syst. Technol., 2009, 17(4), 892–899.

10.

Zuo

Wang

Huang

Liu

Wang

Neural network-based robust H _∞ decentralised control strategy with new learning algorithm for robot manipulators. Int. J. Autom. Control, 2010, 4(1), 3–25.

11.

S. S.

Adams

Wijesoma

W. S.

Adaptive robust output-feedback motion/force control of electrically driven nonholonomic mobile manipulators. IEEE Trans. Control Syst. Technol., 2008, 16(6), 1308–1315.

12.

Sugar

Kumar

Control of cooperating mobile manipulators. IEEE Trans. Robot. Autom., 2002, 18(1), 94–103.

13.

Lin

Goldenberg

Neural-network control of mobile manipulators. IEEE Trans. Neural Netw., 2001, 12(5), 1121–1133.

14.

Slotine

Applied nonlinear control, 1991 (Prentice-Hall (New Jersey).

15.

Rosenberg

Analytical dynamics of discrete systems, 1977 (Kluwer Academic Publisher (New York, 340–343.

16.

Yamamoto

Yun

Coordinating locomotion and manipulation of a mobile manipulator. IEEE Trans. Auton. Control, 1994, 39(6), 1326–1332.

17.

Lin

Goldenberg

Robust damping control of mobile manipulators. IEEE Trans. Syst. Man. Cybern., 2002, 32(1), 126–132.

18.

Chen

Liu

Robust control of wheeled mobile manipulators using hybird joints. Int. J. Adv. Robot. Syst., 2008, 5(1), 83–90.

19.

Commuri

Lewis

CMAC neural networks for control of nonlinear dynamical systems, structure, stability, and passivity. Proc. IEEE Int. Symp. Intell. Control, 1995, 1. 123–129.

20.

Lewis

Yesildirek

Liu

Multilayer neural-net robot controller with guaranteed tracking performance. IEEE Trans. Syst. Man Cybern., 1999, 29(5), 583–591.

21.

Leu

Lee

Observer-based adaptive fuzzy-neural control for unknown nonlinear dynamical systems. IEEE Trans. Syst. Man Cybern., 1999, 29(5), 583–591.

22.

Sciavicco

Siciliano

Modelling and control of robot manipulators, 2000 (Springer-Verlag (New York).

23.

Liu

Sliding mode adaptive neural-network control for nonholonomic mobile modular manipulators. J. Intell. Robot. Syst., 2006, 44(3), 203–224.

24.

Ahmed

Tasadduq

Neural servocontroller for nonlinear MIMO plant. IEE Proc. Control Theor. Appl., 1998, 145(3), 277–290.

25.

Delyon

Juditsky

Benveniste

Accuracy analysis for wavelet approximaions. IEEE Trans. Neural Netw., 1995, 6(2), 332–348.

26.

Corless

Leitmann

Bounded controllers for robust exponential convergence. J. Opt. Theor. Appl., 1993, 76(1), 1–12.

27.

Maciejowski

Multivariable feedback design, 1989 (Addison-Wesley (London, UK).

28.

Oucheriah

Adaptive robust control of a class of dynamic delay systems with unknown uncertainty bounds. Int. J. Adap. Control Sig. Proc., 2001, 15(1), 53–63.

29.

Qussar

Rivals

Personnaz

Training wavelet networks for nonlinear dynamic input–output modeling. Neurocomputing, 1998, 20(1), 173–188.

30.

Saif

Kavranoglu

Simultaneous stabilization of MIMO systems via robustly stabilizinga central plant. IEEE Trans. Autom. Control, 2002, 47(2), 363–369.

31.

Steyn

Fuzzy control for a non-linear MIMO plant subject to control constraints. IEEE Trans. Syst. Man Cybern., 1994, 24(10), 1565–1571.

32.

Tsai

Cheng

Lin

Dynamic modeling and tracking control of a nonholonomic wheeled mobile manipulator with dual arms. J. Intell. Robot. Syst., 2006, 47(2), 317–340.

33.

Yaniv

Robust design of MIMO feedback systems having an uncertain non-linear plant. Int. J. Control, 1991, 53(6), 1283–1294.

34.

Yim

Lee

Fuzzy model-reference adaptive control. IEEE Trans. Syst. Man. Cyber, 1995, 25(12), 1606–1615.

35.

Zhang

Benveniste

Wavelet networks. IEEE Trans. Neural Netw., 1992, 3(6), 889–898.

36.

Zhang

Using wavelet network in nonparametric estimation. IEEE Trans. Neural Netw., 1997, 8(2), 227–236.

37.

Zhang

Walter

Miao

Wavelet neural networks for function learning. IEEE Trans. Signal Proc., 1995, 43(6), 1485–1497.