Neural network-based robot nonlinear output feedback control method

Article type: Research Article

Authors: Chu, Lina

Affiliations: Department of Basic Education, Chongqing Creation Vocational College, Chongqing 402160, China | E-mail: chu_yuan_ting@126.com

Correspondence: [*] Corresponding author: Department of Basic Education, Chongqing Creation Vocational College, Chongqing 402160, China. E-mail: chu_yuan_ting@126.com.

Abstract: In order to improve the accuracy of robot terminal pose tracking and the anti-interference performance of robot nonlinear motion path control, a nonlinear output feedback control method based on neural network is proposed. Construct the coordinate transformation matrix of the connecting rod, calculate the linear and angular velocity of the nonlinear motion of the robot, then calculate the sum of the kinetic energy of each connecting rod of the robot, and establish the motion equation of the robot. The structure of BP neural network is analyzed, and the motion equation is solved by BP neural network. Finally, a Fractional Order PID controller is designed and BP neural network is constructed to control the nonlinear motion equation of the robot to complete the output feedback control of the robot. The experimental results show that the end attitude tracking error of this method is the smallest, and it best fits the actual nonlinear trajectory of the robot. It shows that this method can accurately track the end posture of the robot, and can still effectively control the trajectory of the robot in the interference environment.

Keywords: Neural network, robot nonlinear output, feedback control, robot end pose, end pose tracking, nonlinear trajectory

DOI: 10.3233/JCM-226453

Journal: Journal of Computational Methods in Sciences and Engineering, vol. 23, no. 2, pp. 1007-1019, 2023