Active vibration adaptive fuzzy backstepping control of a 7-DOF dual-arm of humanoid robot with input saturation

Issue title: Some highlights on fuzzy systems and data mining

Guest editors: Shilei Sun, Silviu Ionita, Eva Volná, Andrey Gavrilov and Feng Liu

Article type: Research Article

Authors: Bai, Keqiang^{a; b; c; *} | Luo, Minzhou^{a; b} | Li, Tao^d | Wu, Jue^{c; *} | Yang, Lei^c | Liu, Manlu^{a; c} | Jiang, Guanwu^{a; c}

Affiliations: [a] Department of Automation, School of Information Science and Technology, University of Science and Technology of China, Hefei, P.R. China | [b] Institute of Intelligent Manufacturing Technology, Jiangsu Industrial Technology Research Institute, Nanjing, P.R. China | [c] Southwest University of Science and Technology, Mianyang, P.R. China | [d] Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, P.R. China

Correspondence: [*] Corresponding author. Keqiang Bai, Department of Automation, School of Information Science and Technology, University of Science and Technology of China, Hefei 230026, China. Tel./Fax: +86 15983658733; E-mail: baisir@mail.ustc.edu.cn (K. Bai); Jue Wu, Southwest University of Science and Technology, Mianyang 621010, China. E-mail: wujue@aliyun.com (J. Wu).

Abstract: This paper proposes a new controller based on the torque compensation method for the control of a 7-DOF dual-arm of a humanoid robot with input saturation residual vibration of the end-effector. Through theoretical and experimental analysis, an adaptive fuzzy backstepping control strategy was designed for the 7-DOF dual-arm control system. This strategy can be used to suppress the time-varying nonlinear residual vibration of the end-effector caused by inertia variations in the serial robot. Firstly, a boundary feedback controller was designed to asymptotically stabilize the closed-loop system based on the C0-semigroup theory, which also proves the efficacy of the closed-loop system solution. Lyapunov stability analysis proved that the closed-loop demonstrated globally asymptotic stability. Secondly, an adaptive fuzzy backstepping method was designed for the dynamic compensator with a tracking filter for the control system of the 7-DOF dual-arm of the humanoid robot. The primary difference between this new method and conventional methods is that the new method does not require complex computation. In addition, this method improves the limit of computing power and memory space for the controllers. Finally, the effectiveness of the torque compensation strategy and the new method’s ability to suppress the residual vibration are demonstrated via simulation and experiments.

Keywords: Torque compensation, 7-DOF dual-arm of humanoid robot, input saturation, adaptive fuzzy backstepping control

DOI: 10.3233/JIFS-169179

Journal: Journal of Intelligent & Fuzzy Systems, vol. 31, no. 6, pp. 2949-2957, 2016