A brief review of neural networks based learning and control and their applications for robots

As an imitation of the biological nervous systems, neural networks (NN), which are characterized with powerful learning ability, have been employed in a wide range of applications, such as control of complex nonlinear systems, optimization, system identification and patterns recognition etc. This article aims to bring a brief review of the state-of-art NN for the complex nonlinear systems. Recent progresses of NNs in both theoretical developments and practical applications are investigated and surveyed. Specifically, NN based robot learning and control applications were further reviewed, including NN based robot manipulator control, NN based human robot interaction and NN based behavior recognition and generation

AI based Robot Safe Learning and Control

Introduction This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors’ papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities

Admittance-based adaptive cooperative control for multiple manipulators with output constraints

This paper proposes a novel adaptive control methodology based on the admittance model for multiple manipulators transporting a rigid object cooperatively along a predefined desired trajectory. First, an admittance model is creatively applied to generate reference trajectory online for each manipulator according to the desired path of the rigid object, which is the reference input of the controller. Then, an innovative integral barrier Lyapunov function is utilized to tackle the constraints due to the physical and environmental limits. Adaptive neural networks (NNs) are also employed to approximate the uncertainties of the manipulator dynamics. Different from the conventional NN approximation method, which is usually semiglobally uniformly ultimately bounded, a switching function is presented to guarantee the global stability of the closed loop. Finally, the simulation studies are conducted on planar two-link robot manipulators to validate the efficacy of the proposed approach