In this paper, an adaptive backstepping fuzzy cerebellar-model-articulation-control neural-networks control （ABFCNC） system for motion/force control of the mobile-manipulator robot （MMR） is proposed. By applying t...In this paper, an adaptive backstepping fuzzy cerebellar-model-articulation-control neural-networks control （ABFCNC） system for motion/force control of the mobile-manipulator robot （MMR） is proposed. By applying the ABFCNC in the tracking-position controller, the unknown dynamics and parameter variation problems of the MMR control system are relaxed. In addition, an adaptive robust compensator is proposed to eliminate uncertainties that consist of approximation errors, uncertain disturbances. Based on the tracking position-ABFCNC design, an adaptive robust control strategy is also developed for the nonholonomicconstraint force of the MMR. The design of adaptive-online learning algorithms is obtained by using the Lyapunov stability theorem. Therefore, the proposed method proves that it not only can guarantee the stability and robustness but also the tracking performances of the MMR control system. The effectiveness and robustness of the proposed control system are verified by comparative simulation results.展开更多
Soft sensor is attractive in dealing with online product quality measurement by virtue of other easily measured variables. In AMOCO PTA (purified terephthalic acid) production process, the unavailability of real-time ...Soft sensor is attractive in dealing with online product quality measurement by virtue of other easily measured variables. In AMOCO PTA (purified terephthalic acid) production process, the unavailability of real-time measurement of 4-CBA makes it impossible for timely adjustment and thereby influences the product quality and the plant economy benefit. In this paper, a kind of FCMAC (fuzzy cerebellar model articulation controller) method is presented to solve the online measurement problem. Different from the conventional CMAC (cerebellar model articulation controller) networks, which has inferior smoothing ability because of its table look-up based technology. Integrating fuzzy model into CMAC networks, it becomes more accurate in functional mapping without weakening its generalization ability. Numerical example and industrial application results show the method proposed here is satisfactory and feasible.展开更多
基金supported by the National Natural Science Foundation of China(Nos.6117075,60835004)the National High Technology Research and Development Program of China(863 Program)(Nos.2012AA111004,2012AA112312)
文摘In this paper, an adaptive backstepping fuzzy cerebellar-model-articulation-control neural-networks control （ABFCNC） system for motion/force control of the mobile-manipulator robot （MMR） is proposed. By applying the ABFCNC in the tracking-position controller, the unknown dynamics and parameter variation problems of the MMR control system are relaxed. In addition, an adaptive robust compensator is proposed to eliminate uncertainties that consist of approximation errors, uncertain disturbances. Based on the tracking position-ABFCNC design, an adaptive robust control strategy is also developed for the nonholonomicconstraint force of the MMR. The design of adaptive-online learning algorithms is obtained by using the Lyapunov stability theorem. Therefore, the proposed method proves that it not only can guarantee the stability and robustness but also the tracking performances of the MMR control system. The effectiveness and robustness of the proposed control system are verified by comparative simulation results.
基金Supported by the special Funds for Major State Basic Research Program of China (973 Program) (No. 2002CB312200) the 863 Hi-Tech. Research and Development Program of China (No. 2001AA413130, No.2002AA412110)the Key Technologies R&D Programme of China (No. 2001BA201A04).
文摘Soft sensor is attractive in dealing with online product quality measurement by virtue of other easily measured variables. In AMOCO PTA (purified terephthalic acid) production process, the unavailability of real-time measurement of 4-CBA makes it impossible for timely adjustment and thereby influences the product quality and the plant economy benefit. In this paper, a kind of FCMAC (fuzzy cerebellar model articulation controller) method is presented to solve the online measurement problem. Different from the conventional CMAC (cerebellar model articulation controller) networks, which has inferior smoothing ability because of its table look-up based technology. Integrating fuzzy model into CMAC networks, it becomes more accurate in functional mapping without weakening its generalization ability. Numerical example and industrial application results show the method proposed here is satisfactory and feasible.
