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Mathematical Problems in Engineering
Volume 2018, Article ID 7974325, 19 pages
Research Article

Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China

Correspondence should be addressed to Yanjie Liu; nc.ude.tih@uiljy

Received 8 August 2017; Revised 25 November 2017; Accepted 7 December 2017; Published 2 January 2018

Academic Editor: Paolo Boscariol

Copyright © 2018 Le Liang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Multiobjective trajectory optimization and adaptive backstepping control method based on recursive fuzzy wavelet neural network (RFWNN) are proposed to solve the problem of dynamic modeling uncertainties and strong external disturbance of the rubber unstacking robot during recycling process. First, according to the rubber viscoelastic properties, the Hunt-Crossley nonlinear model is used to construct the robot dynamics model. Then, combined with the dynamic model and the recycling process characteristics, the multiobjective trajectory optimization of the rubber unstacking robot is carried out for the operational efficiency, the running trajectory smoothness, and the energy consumption. Based on the trajectory optimization results, the adaptive backstepping control method based on RFWNN is adopted. The RFWNN method is applied in the main controller to cope with time-varying uncertainties of the robot dynamic system. Simultaneously, an adaptive robust control law is developed to eliminate inevitable approximation errors and unknown disturbances and relax the requirement for prior knowledge of the controlled system. Finally, the validity of the proposed control strategy is verified by experiment.