Neural Network-Based Adaptive Asymptotic Prescribed Performance Tracking Control of Hydraulic Manipulators

Abstract

Hydraulic manipulators are extremely complicated systems due to the highly nonlinear characteristics, strong coupling among multiple joints, and heavy modeling uncertainties, which greatly complicate the high-performance tracking controller development compared with conventional manipulators driven by electrical motors. To overcome the above obstacles, this article proposes a novel radial basis function neural network (RBFNN)-based adaptive asymptotic prescribed performance controller for <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$n$ </tex-math></inline-formula> -degrees of freedom (DOF) hydraulic manipulators. First, the entire manipulator system model containing actuator dynamics is derived. Then, the adaptive asymptotic prescribed performance controller is synthesized based on the backstepping framework, in which the RBFNN is employed to estimate the unknown joint coupling dynamics, while the RBFNN reconstruction error and uncertainties of the actuator dynamics are handled by the robust integral of the sign of the error (RISE) feedbacks. Meanwhile, a prescribed performance function (PPF), which characterizes both the certain transient and steady-state performance, is innovatively incorporated into the control design to restrict the joint tracking errors. The theoretical analysis proves that the proposed control strategy can achieve a prescribed tracking performance and the asymptotic stability of the whole closed-loop system can also be ensured. Finally, comparative simulations are conducted to verify the validity of the proposed controller.