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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/7974325/figures/7974325.fig.0013a.svgz" name="7974325.fig.0013a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Robust term <svg height="12.5403pt" id="M294" style="vertical-align:-3.29109pt" version="1.1" viewbox="-0.0498162 -9.24921 12.0519 12.5403" width="12.0519pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.085,-.222)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z" id="g119-17"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M471 456L444 459C426 433 414 430 388 430C324 430 270 434 216 434C103 434 51 374 23 338L43 317C96 366 146 380 221 375L154 109C149 86 147 68 147 52C147 4 168 -12 197 -12C240 -12 291 25 334 71L320 96C295 75 268 58 252 58C238 58 227 79 238 138C251 211 272 296 292 372C310 372 332 368 350 368C391 368 421 369 434 371C444 388 455 413 471 456Z" id="g113-241"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.303,3.132)"><path d="M538 684C542 703 539 710 529 710C512 710 455 682 363 674L361 644H396C444 644 448 642 438 594L405 438C373 450 347 451 336 451C288 451 200 416 147 374C69 312 24 207 24 113C24 29 60 -12 94 -12C126 -12 156 4 196 30C231 53 296 100 346 166H348L328 81C311 10 325 -12 348 -12C380 -12 450 24 512 98L495 125C466 97 431 70 417 70C408 70 408 80 411 98L538 684ZM390 373L361 240C336 196 210 56 145 56C132 56 113 73 113 131C113 216 156 338 220 379C243 394 266 402 303 402C331 402 375 388 390 373Z" id="g50-101"></path></g></svg></td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/7974325/figures/7974325.fig.0013b.svgz" name="7974325.fig.0013b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Online estimated parameters</td></tr></table>

<div>Robust term and online estimated parameters.</div>

Mathematical Problems in Engineering

fig13

Figure 13

Figure 13: Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method 