Adaptive neural network control of serial variable stiffness actuators

DOI10.1155/2017/5361246MaRDI QIDQ1687437zbMATH OpenOpenAlexFDO

Authors Zhao Guo, Yongping Pan, Tairen Sun, Yubing Zhang, Xiaohui Xiao

Publication date 3 January 2018

Published in Complexity (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2017/5361246

zbMATH Keywords

adaptive neural network controlmulti-input multi-output complex nonlinear dynamic modelrobotic applicationsserial variable stiffness actuators

Mathematics Subject Classification ID

Neural networks for/in biological studies, artificial life and related topics (92B20) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: This paper focuses on modeling and control of a class of Serial Variable Stiffness Actuators (SVSAs) based on level mechanisms for robotic applications. A multi-input multi-output complex nonlinear dynamic model is derived to fully describe SVSAs and the relative degree of the model is determined accordingly. Due to nonlinearity, high coupling, and parametric uncertainty of SVSAs, a neural network-based adaptive control strategy based on feedback linearization is proposed to handle system uncertainties. The feasibility of the proposed approach for position and stiffness tracking of SVSAs is verified by simulation results.

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Cites work

• Adaptive neural output feedback control for uncertain robot manipulators with input saturation
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Cited in

(7)

• Adaptive neural network control of tendon-driven mechanisms with elastic tendons
• Adaptive PID-tracking control of muscle-like actuated compliant robotic systems with input constraints
• A multilayer feed forward small-world neural network controller and its application on electrohydraulic actuation system
• Combined Feedback-Feed Forward Control Strategy for a Knee Rehabilitation Device with Soft Actuation
• Modeling and control of twisted and coiled artificial muscles for soft robotics
• Robust tracking control of the variable stiffness actuator based on the lever mechanism
• Adaptive neural tracking control for flexible joint robot including hydraulic actuator dynamics with disturbance observer

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