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Volume 9 Issue 10
Oct.  2022

IEEE/CAA Journal of Automatica Sinica

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N. Tan, P. Yu, Z. Y. Zhong, and  F. L. Ni,  “A new noise-tolerant dual-neural-network scheme for robust kinematic control of robotic arms with unknown models,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 10, pp. 1778–1791, Oct. 2022. doi: 10.1109/JAS.2022.105869
Citation: N. Tan, P. Yu, Z. Y. Zhong, and  F. L. Ni,  “A new noise-tolerant dual-neural-network scheme for robust kinematic control of robotic arms with unknown models,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 10, pp. 1778–1791, Oct. 2022. doi: 10.1109/JAS.2022.105869

A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models

doi: 10.1109/JAS.2022.105869
Funds:  This work was partially supported by the National Natural Science Foundation of China (62173352, 62103112), the Guangdong Basic and Applied Basic Research Foundation (2021A1515012314), the Open Project of Shenzhen Institute of Artificial Intelligence and Robotics for Society (AC01202005006), and the Key-Area Research and Development Program of Guangzhou (202007030004)
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  • Taking advantage of their inherent dexterity, robotic arms are competent in completing many tasks efficiently. As a result of the modeling complexity and kinematic uncertainty of robotic arms, model-free control paradigm has been proposed and investigated extensively. However, robust model-free control of robotic arms in the presence of noise interference remains a problem worth studying. In this paper, we first propose a new kind of zeroing neural network (ZNN), i.e., integration-enhanced noise-tolerant ZNN (IENT-ZNN) with integration-enhanced noise-tolerant capability. Then, a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic control problem of both rigid-link and continuum robotic arms, which improves the performance of robotic arms with the disturbance of noise, without knowing the structural parameters of the robotic arms. The finite-time convergence and robustness of the proposed control scheme are proven by theoretical analysis. Finally, simulation studies and experimental demonstrations verify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness.

     

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    Highlights

    • A new IENT-ZNN model with better convergence and robustness is designed
    • A model-free control system is devised based on the IENT-ZNN for rigid-link and continuum robots
    • The finite-time convergence and noise-tolerant capability of the proposed method are proven
    • Experiments based a cable-driven continuum robot and a rigid-link robot are performed

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