Neural control of robot manipulators considering motor voltage saturation: performance evaluation and experimental validation

This paper aims to design a neural controller based on radial basis function networks (RBFN) for electrically driven robots subjected to constrained inputs.

It is assumed that the electrical motors have limitations on the applied voltages from the controller. Due to the universal approximation property of RBFN, uncertainties including un-modeled dynamics and external disturbances are represented with this powerful neural network. Then, the lumped uncertainty including the nonlinearities imposed by actuator saturation is introduced and a mathematical model suitable for model-free control is presented. Based on the closed-loop equation, a Lyapunove function is defined and the stability analysis is performed. It is assumed that the electrical motors have limitations on the applied voltages from the controller.

A comparison with a similar controller shows the superiority of the proposed controller in reducing the tracking error. Experimental results on a SCARA manipulator actuated by permanent magnet DC motors have been presented to guarantee its successful practical implementation.

The novelty of this paper in comparison with previous related works is improving the stability analysis by involving the actuator saturation in the design procedure. It is assumed that the electrical motors have limitations on the applied voltages from the controller. Thus, a comprehensive approach is adopted to include the saturated and unsaturated areas, while in previous related works these areas are considered separately. Moreover, a performance evaluation has been carried out to verify satisfactory performance of transient response of the controller.