This paper presents a self-structured organizing single-input control system based on differentiable cerebellar model articulation controller (CMAC) for an n-link robot manipulator to achieve the high-precision position tracking. In the proposed scheme, the single-input CMAC controller is solely used to control the plant, so the input space dimension of CMAC can be simplified and no conventional controller is needed. The structure of single-input CMAC will also be self-organized; that is, the layers of single-input CMAC will grow or prune systematically and their receptive functions can be automatically adjusted. The online tuning laws of single-input CMAC parameters are derived in gradient-descent learning method and the discrete-type Lyapunov function is applied to determine the learning rates of the proposed control system so that the stability of the system can be guaranteed. The simulation results of three-link De-icing robot manipulator are provided to verify the effectiveness of the proposed control methodology.
KeywordsCerebellar Model Articulation Controller (CMAC)De-Icing Robot ManipulatorGradient-Descent MethodSelf-OrganizingSigned Distance
A. Vemuri, M. M. Polycarpou and S. A. Diakourtis, “Neural Network Based Fault Detection in Robotic Manipulators,” IEEE Robotics Automation, Vol. 14, No. 2, 1998, pp. 342-348. doi:10.1109/70.681254
W. Z. Gao and R. R. Selmic, “Neural Network Control of a Class of Nonlinear Systems with Actuator Saturation,” American Control Conference, Boston, 2006, pp. 147-156.
Y. Zou, Y. N. Wang and X. Z. Liu, “Neural Network Robust H∞Tracking Control Strategy for robot manipulators,” Applied Mathematical Modelling, Vol. 34, No. 7, 2010, pp. 1823-1838. doi:10.1016/j.apm.2009.09.026
B.-S. Chen, H.-J. Uang and C.-S. Tseng, “Robust Tracking Enhancement of Robot Systems Including Motor Dynamics: A Fuzzy-Based Dynamic Game Approach,” IEEE Transactions on Fuzzy Systems, Vol. 6, No. 4, 1998, pp. 538-552. doi:10.1109/91.728449
H.-X. Li and S.-C. Tong, “A Hybrid Adaptive Fuzzy Control for a Class of Nonlinear MIMO Systems,” IEEE Transactions on Fuzzy Sysemstm, Vol. 11, No. 1, 2003, pp. 24-34. doi:10.1109/TFUZZ.2002.806314
S. Labiod, M. S. Boucherit and T. M. Guerra, “Adaptive Fuzzy Control of a Class of MIMO Nonlinear Systems,” Fuzzy Set and Systems, Vol. 151, No. 1, 2005, pp. 59-77. doi:10.1016/j.fss.2004.10.009
Y. G. Leu, W. Y. Wang, and T. T. Lee, “Observe Based Direct Adaptive Fuzzy Neural Control for Non-Affine Nonlinear Systems,” IEEE Transactions on Neural Networks, Vol. 16, No. 4, 2005, pp. 853-861. doi:10.1109/TNN.2005.849824
R. J. Wai and Z. W. Yang, “Adaptive Fuzzy Neural Network Control Design via a T-S Fuzzy Model for a Robot Manipulator Including Actuator Dynamics,” IEEE Transactions on Systems, Man and Cybernnetics, Vol. 38, No. 5, 2008, pp. 1326-1346. doi:10.1109/TSMCB.2008.925749
C.-S. Chen, “Dynamic Structure Neural Fuzzy Networks for Robust Adaptive Control of Robot Manipulators,” IEEE Transactions on Industrial Electronics, Vol. 55, No. 9, 2008, pp. 3402-3414. doi:10.1109/TIE.2008.926778
B. J. Choi, S. W. Kwak and B. K. Kim, “Design of Single-Input Fuzzy Logic Controller and Its Properties,” Fuzzy Sets and Systems, Vol. 106, No. 3, 1999, pp. 299-308. doi:10.1016/S0165-0114(97)00283-2
B. J. Choi, S. W. Kwak and B. K. Kim, “Design and Stability Analysis of Single-Input Fuzzy Logic Controller,” IEEE Transactions on Systems, Man and Cybernnetics, Vol. 30, No. 2, 2000, pp. 303-309. doi:10.1109/3477.836378
K. Ishaque, S. S. Abdullah, S. M. Ayob and Z. Salam, “Single Input Fuzzy Logic Controller for Unmanned Underwater Vehicle,” Journal of Intelligent and Robotic Systems, Vol. 59, No. 3, 2010, pp. 87-100. doi:10.1007/s10846-010-9395-x
J. S. Albus, “A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller,” Journal of Dynamic Systems Measurement and Control, Vol. 97, No. 3, 1975, pp. 220-227. doi:10.1115/1.3426922
H. Shiraishi, S. L. Ipri and D. D. Cho, “CMAC Neural Network Controller for Fuel-Injection Systems,” IEEE Transactions on Control Systems Technology, Vol. 3, No. 1, 1995, pp. 32-38. doi:10.1115/1.3426922
S. Jagannathan, S. Commuri and F. L. Lewis, “Feedback Linearization Using CMAC Neural Networks,” Automatica, Vol. 34, No. 3, 1998, pp. 547-557. doi:10.1016/S0005-1098(97)00206-9
C. T. Chiang and C. S. Lin, “CMAC with General Basis Functions,” Journal of Neural Networks, Vol. 9, No. 7, 1996, pp. 1199-1211. doi:10.1016/S0005-1098(97)00206-9
Y. H. Kim and F. L. Lewis, “Optimal Design of CMAC Neural-Network Controller for Robot Manipulators,” IEEE Transactions on Systems, Man and Cybernnetics, Vol. 30, No. 1, 2000, pp. 22-31. doi:10.1109/5326.827451
C. M. Lin and Y. F. Peng, “Adaptive CMAC-Based Supervisory Control for Uncertain Nonlinear Systems,” IEEE Transactions on Systems, Man and Cybernnetics, Vol. 34, No. 2, 2004, pp. 1248–1260. doi:10.1109/TSMCB.2003.822281
S. F. Su, T. Tao and T. H. Hung, “Credit Assigned CMAC and Its Application to Online Learning Robust Controllers,” IEEE Transactions on Systems, Man and Cybernnetics, Vol. 33, No. 2, 2003, pp. 202-213. doi:10.1109/TSMCB.2003.810447
H.-C. Lu, C.-Y. Chuang and M.-F. Yeh, “Design of Hybrid Adaptive CMAC with Supervisory Controller for a Class of Nonlinear System,” Neurocomputing, Vol. 72, No. 7-9, 2009, pp. 1920-1933. doi:10.1016/j.neucom.2008.07.004
Y. F. Peng and C. M. Lin, “Intelligent Hybrid Control for Uncertain Nonlinear Systems Using a Recurrent Cerebellar Model Articulation Controller,” IEEE Proceedings Control Theory and Applications, Vol. 151, No. 5, 2004. pp. 589-600. doi:10.1049/ip-cta:20040903
J. Hu and F. Pratt, “Self-Organizing CMAC Neural Networks and Adaptive Dynamic Control,” IEEE International Symposium on Intelligent Control/Intelligent Systems and Semiotics, Cambridge, 1999, pp. 259-265.
H. C. Lu and C. Y. Chuang, “Robust Parametric CMAC with Self-Generating Design for Uncertain Nonlinear Systems,” Neurocomputing, Vol. 74, No. 4, 2011, pp. 549-562. doi:10.1016/j.neucom.2010.09.001
H. M. Lee, C. M. Chen and Y. F. Lu, “A Self-Organizing HCMAC Neural-Network Classifier,” IEEE Transactions on Neural Networks, Vol. 14, No. 1, 2003, pp. 15-27. doi:10.1109/TNN.2002.806607
C. M. Lin and T. Y. Chen, “Self-Organizing CMAC Control for a Class of MIMO Uncertain Nonlinear Systems,” IEEE Transactions on Neural Networks, Vol. 20, No. 9, 2009, pp. 1377-1384. doi:10.1109/TNN.2009.2013852
M.-F. Yeh, “Single-Input CMAC Control System,” Neurocomputing, Vol. 70, No. 16-18, 2007, pp. 2638-2644. doi:10.1016/j.neucom.2006.05.019
M.-F. Yeh, H.-C. Lu and J.-C. Chang, “Single-Input CMAC Control System with Direct Control Ability,” IEEE Transactions on Systems, Man and Cybernnetics, Vol. 3, No. 1, 2006, pp. 2602-2607. doi:10.1109/ICSMC.2006.385256
M.-F. Yeh and C.-H. Tsai, “Standalone CMAC Control Systems with Online Learning Ability,” IEEE Transactions on Systems, Man and Cybernnetics, Vol. 40, No. 1, 2010, pp. 43-53. doi:10.1109/TSMCB.2009.2030334