Multilayer Neurolearning of Measurement-Information-Poor Hydraulic Robotic Manipulators with Disturbance Compensation

Guichao Yang () and Zhiying Shi
Additional contact information
Guichao Yang: School of Mechanical and Power Engineering, Nanjing Tech University, Nanjing 211816, China
Zhiying Shi: School of Mechanical and Power Engineering, Nanjing Tech University, Nanjing 211816, China

Mathematics, 2025, vol. 13, issue 4, 1-16

Abstract: In order to further improve the tracking performance of multiple-degree-of-freedom serial electro-hydraulic robotic manipulators, a high-performance multilayer neurocontroller will be proposed. In detail, multilayer neural networks will be employed to approximate the smooth and non-smooth state-dependent modeling uncertainties. Meanwhile, extended state observers will be utilized to estimate matched and unmatched time-varying disturbances. Moreover, these estimated values will be incorporated into the synthesized controller to compensate for the modeling uncertainties. Significantly, the proposed controller without “explosion of complexity” is suitable for the scene where the joint angular velocities are not measurable. Additionally, the sensor measurement noises can be reduced and input saturation nonlinearity will be handled.

Keywords: hydraulic robotic manipulator; hydraulic robot arm; multilayer neural networks; extended state observer; disturbance compensation; measurement noise; input saturation (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2227-7390/13/4/683/pdf (application/pdf)
https://www.mdpi.com/2227-7390/13/4/683/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:13:y:2025:i:4:p:683-:d:1595013

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().