Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-19, 19 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-01-02
Country of Publication
Egypt
No. of Pages
19
Main Subjects
Abstract EN
Multiobjective trajectory optimization and adaptive backstepping control method based on recursive fuzzy wavelet neural network (RFWNN) are proposed to solve the problem of dynamic modeling uncertainties and strong external disturbance of the rubber unstacking robot during recycling process.
First, according to the rubber viscoelastic properties, the Hunt-Crossley nonlinear model is used to construct the robot dynamics model.
Then, combined with the dynamic model and the recycling process characteristics, the multiobjective trajectory optimization of the rubber unstacking robot is carried out for the operational efficiency, the running trajectory smoothness, and the energy consumption.
Based on the trajectory optimization results, the adaptive backstepping control method based on RFWNN is adopted.
The RFWNN method is applied in the main controller to cope with time-varying uncertainties of the robot dynamic system.
Simultaneously, an adaptive robust control law is developed to eliminate inevitable approximation errors and unknown disturbances and relax the requirement for prior knowledge of the controlled system.
Finally, the validity of the proposed control strategy is verified by experiment.
American Psychological Association (APA)
Liang, Le& Liu, Yanjie& Xu, Hao. 2018. Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-19.
https://search.emarefa.net/detail/BIM-1209081
Modern Language Association (MLA)
Liang, Le…[et al.]. Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method. Mathematical Problems in Engineering No. 2018 (2018), pp.1-19.
https://search.emarefa.net/detail/BIM-1209081
American Medical Association (AMA)
Liang, Le& Liu, Yanjie& Xu, Hao. Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-19.
https://search.emarefa.net/detail/BIM-1209081
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1209081