Journal of Shanghai Jiao Tong University(Science) ›› 2020, Vol. 25 ›› Issue (5): 553-560.doi: 10.1007/s12204-020-2210-3

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Identification and Control of Flexible Joint Robot Using Multi-Time-Scale Neural Network

ZHENG Dongdong (郑冬冬), LI Pengcheng (李鹏程), XIE Wenfang (谢文芳), LI Dan (李丹)   

  1. (1. Department of Mechanical, Industrial & Aerospace Engineering, Concordia University, Montreal H3G 1M8, Canada;
    2. College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016,
    China; 3. Department of Electrical and Computer Engineering, Concordia University, Montreal H3G 1M8, Canada)
  • 出版日期:2020-10-28 发布日期:2020-09-11
  • 通讯作者: XIE Wenfang (谢文芳) E-mail:wfxie@encs.concordia.ca

Identification and Control of Flexible Joint Robot Using Multi-Time-Scale Neural Network

ZHENG Dongdong (郑冬冬), LI Pengcheng (李鹏程), XIE Wenfang (谢文芳), LI Dan (李丹)   

  1. (1. Department of Mechanical, Industrial & Aerospace Engineering, Concordia University, Montreal H3G 1M8, Canada;
    2. College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016,
    China; 3. Department of Electrical and Computer Engineering, Concordia University, Montreal H3G 1M8, Canada)
  • Online:2020-10-28 Published:2020-09-11
  • Contact: XIE Wenfang (谢文芳) E-mail:wfxie@encs.concordia.ca

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摘要： In this paper, a new identification and control scheme for the flexible joint robotic manipulator is
proposed. Firstly, by defining some new state variables, the commonly used dynamic equations of the flexible joint
robotic manipulators are transformed into the standard form of a singularly perturbed model. Subsequently, an
optimal bounded ellipsoid algorithm based identification scheme using multi-time-scale neural network is proposed
to identify the unknown system dynamic equations. Lastly, by using the singular perturbation theory, an indirect
adaptive controller based on the identified model is proposed to control the system such that the joint angles can
track the given reference signals. The closed-loop stability of the whole system is proved, and the effectiveness of
the proposed schemes is verified by simulations.

关键词: flexible joint, robotic manipulator, multi-time-scale neural network, singular perturbation, adaptive
controller

Abstract: In this paper, a new identification and control scheme for the flexible joint robotic manipulator is
proposed. Firstly, by defining some new state variables, the commonly used dynamic equations of the flexible joint
robotic manipulators are transformed into the standard form of a singularly perturbed model. Subsequently, an
optimal bounded ellipsoid algorithm based identification scheme using multi-time-scale neural network is proposed
to identify the unknown system dynamic equations. Lastly, by using the singular perturbation theory, an indirect
adaptive controller based on the identified model is proposed to control the system such that the joint angles can
track the given reference signals. The closed-loop stability of the whole system is proved, and the effectiveness of
the proposed schemes is verified by simulations.

Key words: flexible joint, robotic manipulator, multi-time-scale neural network, singular perturbation, adaptive
controller

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