{"title":"机器人运动控制的仿生复合学习","authors":"Yongping Pan, Tairen Sun, Haoyong Yu","doi":"10.1109/BIOROB.2016.7523622","DOIUrl":null,"url":null,"abstract":"This paper focuses on biomimetic hybrid feedback feedforward (HFF) learning for robot motion control. Existing HFF robot motion control approaches have a major problem that accurate estimation of the robotic dynamics, which is crucial for mimicking biological control, is not taken into account. In this study, a composite learning technique is presented to achieve fast and accurate estimation of the robotic dynamics in robot motion control without a stringent persistent-excitation (PE) condition. The control architecture includes a proportional-derivative (PD) controller acting as a feedback servo machine and an estimation model acting as a feedforward predictive machine. In the composite learning, a time-interval integral of a filtered regressor is utilized to construct a prediction error, and both the prediction error and a filtered tracking error are used to update parametric estimates. Semiglobal exponential stability of the closed-loop system is rigorously established under an interval-excitation (IE) condition which is much weaker than the PE condition. Simulation results have been provided to demonstrate effectiveness and superiority of the proposed approach.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Biomimetic composite learning for robot motion control\",\"authors\":\"Yongping Pan, Tairen Sun, Haoyong Yu\",\"doi\":\"10.1109/BIOROB.2016.7523622\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper focuses on biomimetic hybrid feedback feedforward (HFF) learning for robot motion control. Existing HFF robot motion control approaches have a major problem that accurate estimation of the robotic dynamics, which is crucial for mimicking biological control, is not taken into account. In this study, a composite learning technique is presented to achieve fast and accurate estimation of the robotic dynamics in robot motion control without a stringent persistent-excitation (PE) condition. The control architecture includes a proportional-derivative (PD) controller acting as a feedback servo machine and an estimation model acting as a feedforward predictive machine. In the composite learning, a time-interval integral of a filtered regressor is utilized to construct a prediction error, and both the prediction error and a filtered tracking error are used to update parametric estimates. Semiglobal exponential stability of the closed-loop system is rigorously established under an interval-excitation (IE) condition which is much weaker than the PE condition. Simulation results have been provided to demonstrate effectiveness and superiority of the proposed approach.\",\"PeriodicalId\":235222,\"journal\":{\"name\":\"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-06-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/BIOROB.2016.7523622\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/BIOROB.2016.7523622","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Biomimetic composite learning for robot motion control
This paper focuses on biomimetic hybrid feedback feedforward (HFF) learning for robot motion control. Existing HFF robot motion control approaches have a major problem that accurate estimation of the robotic dynamics, which is crucial for mimicking biological control, is not taken into account. In this study, a composite learning technique is presented to achieve fast and accurate estimation of the robotic dynamics in robot motion control without a stringent persistent-excitation (PE) condition. The control architecture includes a proportional-derivative (PD) controller acting as a feedback servo machine and an estimation model acting as a feedforward predictive machine. In the composite learning, a time-interval integral of a filtered regressor is utilized to construct a prediction error, and both the prediction error and a filtered tracking error are used to update parametric estimates. Semiglobal exponential stability of the closed-loop system is rigorously established under an interval-excitation (IE) condition which is much weaker than the PE condition. Simulation results have been provided to demonstrate effectiveness and superiority of the proposed approach.