Skip to main content
Erschienen in: Intelligent Service Robotics 1/2015

01.01.2015 | Original Research Paper

Intelligent nonlinear observer design for a class of nonlinear discrete-time flexible joint robot

verfasst von: Mohammad Reza Rahimi Khoygani, Reza Ghasemi, Ahmad Reza Vali

Erschienen in: Intelligent Service Robotics | Ausgabe 1/2015

Einloggen

Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

In this paper, a nonlinear intelligent observer design is applied for a class of nonlinear discrete-time flexible joint robot (DFJR) dynamic system based on artificial neural network (ANN). The DFJR system has a relatively complex nonlinear dynamic and internal states’ estimation of it poses a challenging robotic problem. Multilayer perceptron (MLP) is an important class of feed-forward ANNs that maps set of inputs onto a set of suitable outputs. The ANN under online learning is one of the artificial intelligence methods. Therefore, the MLP neural nonlinear observer is trained online and it is robust in the presence of external and internal uncertainties. The learning method of the intelligent observer is a simple back propagation (BP) algorithm and, furthermore, the learning method of estimation of the link positions and the velocities is BP-developed algorithm. Simulation results show promising performance of the proposed observer in the presence of measurement noise and parameters uncertainties.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Literatur
1.
Zurück zum Zitat Tudor L, Moise A (2013) Automatic expert system for fuzzy control of robot trajectory in joint space. In: IEEE Int. Conf. on Mechatronics and Automation, pp 1057–1062 Tudor L, Moise A (2013) Automatic expert system for fuzzy control of robot trajectory in joint space. In: IEEE Int. Conf. on Mechatronics and Automation, pp 1057–1062
2.
Zurück zum Zitat Park YJ, Chung WK (2013) Unified external torque-sensing algorithm for flexible-joint robot based on Kalman filter. In: 10th Int Conference on Ubiquitous Robots and Ambient Intelligence, pp 78–79 Park YJ, Chung WK (2013) Unified external torque-sensing algorithm for flexible-joint robot based on Kalman filter. In: 10th Int Conference on Ubiquitous Robots and Ambient Intelligence, pp 78–79
3.
Zurück zum Zitat Park YJ, Chung WK (2013) External torque-sensing algorithm for flexible-joint robot based on Kalman filter. Electron Lett 49(14):877–878CrossRef Park YJ, Chung WK (2013) External torque-sensing algorithm for flexible-joint robot based on Kalman filter. Electron Lett 49(14):877–878CrossRef
4.
Zurück zum Zitat Li Xiao-Jian, Yang Guang-Hong (2014) Robust fault detection and isolation for a class of uncertain single output non-linear systems. Control Theory Appl 8(7):462–470CrossRefMathSciNet Li Xiao-Jian, Yang Guang-Hong (2014) Robust fault detection and isolation for a class of uncertain single output non-linear systems. Control Theory Appl 8(7):462–470CrossRefMathSciNet
5.
Zurück zum Zitat MDeshan, XuWenfu, Chao Xu, Zonggao Mu (2013) Modeling and simulation study of flexible space robot for capturing large flexible spacecraft. In: 32nd Chinese Control Conference (CCC), pp 5837–5842 MDeshan, XuWenfu, Chao Xu, Zonggao Mu (2013) Modeling and simulation study of flexible space robot for capturing large flexible spacecraft. In: 32nd Chinese Control Conference (CCC), pp 5837–5842
6.
Zurück zum Zitat Spong MW, Khorasani K, Kokotovic PV (1987) An integral manifold approach to the feedback control of flexible joint robots. IEEE J Rob Autom Soc 3(4):291–300 Spong MW, Khorasani K, Kokotovic PV (1987) An integral manifold approach to the feedback control of flexible joint robots. IEEE J Rob Autom Soc 3(4):291–300
7.
Zurück zum Zitat Lin L-C, Yuan K (1990) Control of flexible joint robots via external linearization approach. J Rob Syst 7(1):1–22 Lin L-C, Yuan K (1990) Control of flexible joint robots via external linearization approach. J Rob Syst 7(1):1–22
8.
Zurück zum Zitat Machida K, Nishida H, Akita K (1998) Precise telerobotic system for space experiment on ETSVII Machida K, Nishida H, Akita K (1998) Precise telerobotic system for space experiment on ETSVII
9.
Zurück zum Zitat Chen W, Yu Y, Zhao X, Zhao L, Sun Q (2011) Position control of a 2DOF underactuated planar flexible manipulator. In: Int. Conf. on Mechatronics and Automation, pp 464–469 Chen W, Yu Y, Zhao X, Zhao L, Sun Q (2011) Position control of a 2DOF underactuated planar flexible manipulator. In: Int. Conf. on Mechatronics and Automation, pp 464–469
10.
Zurück zum Zitat Shang J (2012) Design of a multitasking robotic platform with flexible arms and articulated head for Minimally invasive surgery. In: IEEE Int. Conf. on Intelligent Robots and Systems, pp 1988–1993 Shang J (2012) Design of a multitasking robotic platform with flexible arms and articulated head for Minimally invasive surgery. In: IEEE Int. Conf. on Intelligent Robots and Systems, pp 1988–1993
11.
Zurück zum Zitat Xue G, Ren X (2013) Discrete-time sliding mode control coupled with asynchronous sensor fusion for rigid-link flexiblejoint manipulators. In: IEEE Int. Conf. Control and Automation, pp 238–243 Xue G, Ren X (2013) Discrete-time sliding mode control coupled with asynchronous sensor fusion for rigid-link flexiblejoint manipulators. In: IEEE Int. Conf. Control and Automation, pp 238–243
12.
Zurück zum Zitat Shibata K, Goto K (2013) Emergence of flexible prediction-based discrete decision making and continuous motion generation through actor-Q-learning. In: IEEE Int. Conf. on Development and Learning and Epigenetic Robotics, pp 1–6 Shibata K, Goto K (2013) Emergence of flexible prediction-based discrete decision making and continuous motion generation through actor-Q-learning. In: IEEE Int. Conf. on Development and Learning and Epigenetic Robotics, pp 1–6
13.
Zurück zum Zitat Nakamura T, Saga N, Kawamura T (2003) Development of a soft manipulator using a smart flexible joint for safe contact with humans. In: IEEE Int. Conf. Adv. Intell. Mechatron, vol 1. pp 441–446 Nakamura T, Saga N, Kawamura T (2003) Development of a soft manipulator using a smart flexible joint for safe contact with humans. In: IEEE Int. Conf. Adv. Intell. Mechatron, vol 1. pp 441–446
14.
Zurück zum Zitat Kaminaga H, Ono J, Nakashima Y (2009) Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots. In: IEEE Int. Conf. on Robotics and Automation, pp 1577–1582 Kaminaga H, Ono J, Nakashima Y (2009) Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots. In: IEEE Int. Conf. on Robotics and Automation, pp 1577–1582
15.
Zurück zum Zitat Albu-Schaffer A, Hirzinger G (2000) State feedback controller for flexible joint robots: a globally stable approach implemented on DLRs light-weight robots. IEEE Int Conf 2:1087–1093 Albu-Schaffer A, Hirzinger G (2000) State feedback controller for flexible joint robots: a globally stable approach implemented on DLRs light-weight robots. IEEE Int Conf 2:1087–1093
16.
17.
Zurück zum Zitat Ge SS, Woon LC (1998) Adaptive neural network control of flexible joint manipulators in constrained motion. Trans Inst Meas Control 20(1):37–46CrossRef Ge SS, Woon LC (1998) Adaptive neural network control of flexible joint manipulators in constrained motion. Trans Inst Meas Control 20(1):37–46CrossRef
18.
Zurück zum Zitat Spong MW (1987) Modeling and control of elastic joint robots. J Dyn Syst Meas Control 109:310–319CrossRefMATH Spong MW (1987) Modeling and control of elastic joint robots. J Dyn Syst Meas Control 109:310–319CrossRefMATH
20.
Zurück zum Zitat Spong M, Khorasani K, Kokotovic PV (1987) An integral manifold approach to feedback control of flexible joint robots. IEEE J Robot Autom 3(4):291–301CrossRef Spong M, Khorasani K, Kokotovic PV (1987) An integral manifold approach to feedback control of flexible joint robots. IEEE J Robot Autom 3(4):291–301CrossRef
21.
Zurück zum Zitat Khorasani K (1992) Adaptive control of flexible-joint robots. IEEE Trans Robot Autom 8(2):250–267CrossRef Khorasani K (1992) Adaptive control of flexible-joint robots. IEEE Trans Robot Autom 8(2):250–267CrossRef
22.
Zurück zum Zitat Ghanes M, De Leon J, Barbot J (2013) Observer design for nonlinear systems under unknown time-varying delays. IEEE Trans Autom Control 58(6):1529–1534CrossRef Ghanes M, De Leon J, Barbot J (2013) Observer design for nonlinear systems under unknown time-varying delays. IEEE Trans Autom Control 58(6):1529–1534CrossRef
23.
Zurück zum Zitat Wu J (2014) Nonlinear disturbance observer-based dynamic surface control for trajectory tracking of pneumatic muscle system. IEEE Trans Control Syst Tech 22(2):440–455CrossRef Wu J (2014) Nonlinear disturbance observer-based dynamic surface control for trajectory tracking of pneumatic muscle system. IEEE Trans Control Syst Tech 22(2):440–455CrossRef
24.
Zurück zum Zitat Tobias R, Allgower F (2007) Observers with impulsive dynamical behavior for linear and nonlinear continuous-time systems. In: 46th IEEE Conf. on Decision and Control, pp 4287–4292 Tobias R, Allgower F (2007) Observers with impulsive dynamical behavior for linear and nonlinear continuous-time systems. In: 46th IEEE Conf. on Decision and Control, pp 4287–4292
25.
Zurück zum Zitat Farza M, MSaad M, Fall ML, Pigeon E, Gehan O (2014) Continuous-discrete time observers for a class of MIMO nonlinear systems. IEEE Trans Autom Control 59(4):1060–1065 Farza M, MSaad M, Fall ML, Pigeon E, Gehan O (2014) Continuous-discrete time observers for a class of MIMO nonlinear systems. IEEE Trans Autom Control 59(4):1060–1065
26.
Zurück zum Zitat Prasov AA, Khalil HK (2013) A nonlinear high-gain observer for systems with measurement noise in a feedback control framework. IEEE Trans Autom Control 58(3):569–580CrossRefMathSciNet Prasov AA, Khalil HK (2013) A nonlinear high-gain observer for systems with measurement noise in a feedback control framework. IEEE Trans Autom Control 58(3):569–580CrossRefMathSciNet
27.
Zurück zum Zitat Alanis Alma Y, Sanchez Edgar N, Loukianov Alexander G, Perez Marco A (2011) Real-time recurrent neural state estimation. IEEE Trans Neural Netw 22(3):497–505 Alanis Alma Y, Sanchez Edgar N, Loukianov Alexander G, Perez Marco A (2011) Real-time recurrent neural state estimation. IEEE Trans Neural Netw 22(3):497–505
28.
Zurück zum Zitat Ghasemi Reza (2013) Designing observer based variable structure controller for large scale nonlinear systems. IAES Int J Artif Intel 2(3):125–135 Ghasemi Reza (2013) Designing observer based variable structure controller for large scale nonlinear systems. IAES Int J Artif Intel 2(3):125–135
29.
Zurück zum Zitat Jankovic M (1995) Observer based control for elastic joint robots. IEEE Trans Robot Autom 11(4):618–623CrossRef Jankovic M (1995) Observer based control for elastic joint robots. IEEE Trans Robot Autom 11(4):618–623CrossRef
30.
Zurück zum Zitat Nicosia S, Tomei P, Tornambe A (1988) A nonlinear observer for elastic robots. IEEE Trans Robot Autom 4(1):45–52CrossRef Nicosia S, Tomei P, Tornambe A (1988) A nonlinear observer for elastic robots. IEEE Trans Robot Autom 4(1):45–52CrossRef
31.
Zurück zum Zitat Nicosia S, Tomei P, Tornambe A (1989) An approximate observer for a class of nonlinear systems. Syst Control Lett 12(1):43–51CrossRefMathSciNet Nicosia S, Tomei P, Tornambe A (1989) An approximate observer for a class of nonlinear systems. Syst Control Lett 12(1):43–51CrossRefMathSciNet
33.
Zurück zum Zitat Yun JN, Su Jian-Bo (2014) Design of a disturbance observer for a two- link manipulator with flexible joints. IEEE Trans Control Syst Technol 22(2):809–815CrossRef Yun JN, Su Jian-Bo (2014) Design of a disturbance observer for a two- link manipulator with flexible joints. IEEE Trans Control Syst Technol 22(2):809–815CrossRef
34.
Zurück zum Zitat Kim YH, Lewis FL (1998) High-level feedback control with neural networks. World Scientific, SingaporeMATH Kim YH, Lewis FL (1998) High-level feedback control with neural networks. World Scientific, SingaporeMATH
35.
Zurück zum Zitat Jar V, Khm G, Em H (2013) Adaptive observer design based on scaling and neural networks, Latin America transactions. IEEE (Revista IEEE America Latina) 11(4):989–994 Jar V, Khm G, Em H (2013) Adaptive observer design based on scaling and neural networks, Latin America transactions. IEEE (Revista IEEE America Latina) 11(4):989–994
36.
Zurück zum Zitat Sanchez EN, Ricalde LJ (2003) Trajectory tracking via adaptiverecurrent control with input saturation. In: International Joint Conference on Neural Networks Sanchez EN, Ricalde LJ (2003) Trajectory tracking via adaptiverecurrent control with input saturation. In: International Joint Conference on Neural Networks
37.
Zurück zum Zitat Talebi HA, Abdollahi F, Patel RV, Khorasani K (2010) Neural Network-based state estimation of nonlinear systems. In: Application to fault detection and isolation, vol 395, Springer Talebi HA, Abdollahi F, Patel RV, Khorasani K (2010) Neural Network-based state estimation of nonlinear systems. In: Application to fault detection and isolation, vol 395, Springer
38.
Zurück zum Zitat Resendiz J, Yu W, Fridman L (2008) Two-stage neural observer for mechanical systems. IEEE Trans Circuits Syst II Express Brief 55(10):1076–1080CrossRef Resendiz J, Yu W, Fridman L (2008) Two-stage neural observer for mechanical systems. IEEE Trans Circuits Syst II Express Brief 55(10):1076–1080CrossRef
39.
Zurück zum Zitat Kazantzis N, Kravaris C (1999) Time-discretization of nonlinear control systems via Taylor methods. Comput Chem Eng 23:763–784CrossRef Kazantzis N, Kravaris C (1999) Time-discretization of nonlinear control systems via Taylor methods. Comput Chem Eng 23:763–784CrossRef
40.
Zurück zum Zitat Luenberger DG (1964) Observing the state of a linear systems. IEEE Trans Mil Electron 8(2):7480CrossRef Luenberger DG (1964) Observing the state of a linear systems. IEEE Trans Mil Electron 8(2):7480CrossRef
41.
Zurück zum Zitat Slotine J-JE, Li W (1991) Applied nonlinear control. Prentice Hall, New Jersey, p 352 Slotine J-JE, Li W (1991) Applied nonlinear control. Prentice Hall, New Jersey, p 352
Metadaten
Titel
Intelligent nonlinear observer design for a class of nonlinear discrete-time flexible joint robot
verfasst von
Mohammad Reza Rahimi Khoygani
Reza Ghasemi
Ahmad Reza Vali
Publikationsdatum
01.01.2015
Verlag
Springer Berlin Heidelberg
Erschienen in
Intelligent Service Robotics / Ausgabe 1/2015
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-014-0162-x

Weitere Artikel der Ausgabe 1/2015

Intelligent Service Robotics 1/2015 Zur Ausgabe

Neuer Inhalt