Adaptive neural impedance control for electrically driven robotic systems based on a neuro-adaptive observer

摘要

This paper proposes an adaptive neural impedance control (ANIC) strategy for electrically driven robotic systems, considering system uncertainties and external disturbances. For the considered robotic system, the joint velocities and armature currents are assumed to be unknown and unmeasured, and an adaptive observer is then designed to estimate its unknown states using a neural network. Based on the observed joint velocities and armature currents, an ANIC scheme is proposed and the performances of the joint positions and force tracking can be improved. We also prove that the control system is stable and all the signals in closed-loop system are bounded. Simulation examples on a two-link electrically driven robotic manipulator are presented to show the effectiveness of the proposed observer-based intelligent impedance control method.