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adaptive robust control without initial stabilizing for constrained-states nonlinear multiplayer mixed zero-sum game systems with matched input disturbances

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APPLIED INTELLIGENCE 2025年第2期55卷 1-19页

作者： Qiao, Xiaopeng Qin, Chunbin Wang, Jinguang Zhang, Zhongwei Shang, Ziyang Henan Univ Sch Artificial Intelligence Zhengzhou 450000 Peoples R China Beijing Univ Posts & Telecommun State Key Lab Networking & Switching Technol Beijing 100876 Peoples R China

In this paper, for the multiplayer mixed zero-sum game (MZSG) problem of the constrained-states nonlinear systems with matched input disturbances, an adaptive robust control method without initial stabilizing is presented on account of barrier function (BF) transformation. Firstly, the original system with state constraints is converted to a transformed system without state constraints by barrier function transformation. Secondly, to overcome the influence of matched input disturbances, considering the nominal system related to the transformation system, the cost function corresponding to each player is appropriately selected, and the robust regulation scheme with matched input disturbances is converted to the optimal regulation scheme. In addition, a novel weight tuning law is designed for the critic neural network (NN) by combining the experience replay (ER) mechanism and the index function. Then, the corresponding cost function of each player is approximated by the critic NN without requiring initial stabilizing control. Utilizing the Lyapunov stability theory, under the influence of state constraints and matched input disturbances, the critic NN weights and states within the multiplayer system are ensured to be uniformly ultimately bounded (UUB). Ultimately, the validity of the proposed method is verified by two simulation examples.

关键词： adaptive robust control Mixed zero-sum game (MZSG) Barrier function (BF) State constraints Matched input disturbances

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A composite adaptive robust control approach for ball screw feed system with mismatched uncertainty

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JOURNAL OF VIBRATION AND control 2025年

作者： Ding, Zhi Tong, Lanzhou Dong, Fangfang Huang, Xiaoyong Liu, Zhao Hefei Univ Technol Sch Mech Engn 193 Tunxi Rd Hefei 230009 Peoples R China

In practical operation, time-varying bounded uncertainties such as dynamic parameter variations and external disturbances significantly affect the performance of the ball screw feed system. An innovative composite adaptive robust control approach is proposed to handle these uncertainties and improve the system's trajectory tracking performance. Firstly, the system dynamics are modeled and decomposed into nominal and uncertain parts for separate control design. Then, a composite adaptive law incorporating the dead-zone and an exponential leakage term is proposed to estimate the unknown uncertainty boundaries. This method only requires the knowledge that a boundary exists, without needing any additional information about the boundary itself. Furthermore, a controller is designed that can uniformly handle both matched and mismatched uncertainties. Crucially, to address the challenge of determining the dead-zone size, a dual-layer adaptive hierarchy is introduced: the superior-layer adaptive law determines the value of the dead-zone in real-time, providing parameters for the foundational-layer, which in turn provides parameters for the controller. This strategy achieves parameter adaptation, replacing the traditional approach of engineers determining values based on personal experience. Finally, simulations and experiments are conducted, and the results verified that the proposed control method significantly improves the system's tracking performance, proving its effectiveness.

关键词： Ball screw adaptive robust control trajectory tracking uncertainty dynamic performance

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Predefined-time adaptive robust control of a class of nonlinear singular systems

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2025年第1期239卷 3-15页

作者： Liu, Xiaotong Yang, Renming Shandong Jiaotong Univ Sch Informat Sci & Elect Engn 5001 Haitang Rd Jinan 250357 Peoples R China

In this paper, the predefined-time adaptive robust control problem of a class of nonlinear singular systems is studied. Based on the structural properties of the nonlinear singular systems, we first develop a singular system in dissipative form via an appropriate state feedback, then transform it into an equivalent nonlinear differential-algebraic form, finally we obtain a strictly dissipative differential-algebraic system and apply it to obtain the stability results. Based on this, a predefined-time adaptive robust controller is designed with external disturbances and uncertainty. Finally, the results are applied to the nonlinear singular circuit system, and the effectiveness is verified through simulations conducted on the nonlinear circuit system.

关键词： Nonlinear singular system predefined-time stability adaptive robust control

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Cascade control method for hydraulic secondary regulation drive system based on adaptive robust control

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ISA TRANSACTIONS 2025年 156卷 479-489页

作者： Liu, Xiaochao Wang, Zhenyu Qiu, Zhongyi Jiao, Zongxia Chen, Xinghua Nie, Rui Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Beihang Univ Sci & Technol Aircraft Control Lab Beijing 100191 Peoples R China Beihang Univ Ningbo Inst Technol Ningbo 315800 Peoples R China

The hydraulic secondary regulation drive system employs a hydraulic servo motor to achieve precise position tracking and zero throttling loss, but it faces challenges such as high inertia, low damping, and high system order, leading to suboptimal control accuracy. Traditional adaptive robust control methods struggle with the control challenges of such high-order systems. This paper introduces a cascaded control approach based on adaptive robust control to address these issues. A fifth-order model is developed to account for significant load inertia, dividing the system into inner and outer control loops. The outer loop applies adaptive robust control to handle uncertainties and load disturbances for accurate rotational position control, while the inner loop uses swashplate disturbance compensation robust control to manage torque disturbances and achieve precise displacement control. A cascaded Lyapunov function is designed to address the coupling effects between the errors of the inner and outer loop controllers, ensuring stability across both subsystems. Experimental results show that the proposed method's position tracking accuracy exceeds that of cascade dual-PID control methods by 50% to 80% and traditional adaptive robust control methods by 30% to 40% under sinusoidal frequency commands of 0.1 Hz and 0.25 Hz.

关键词： adaptive robust control Cascaded control Disturbance compensation Hydraulic secondary regulation system Position control

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Fast-convergence nonlinear observer-based neural adaptive robust control for hydraulic servo position system

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APPLIED MATHEMATICAL MODELLING 2025年 141卷

作者： Ba, Kaixian Feng, Xiang Wang, Yuan She, Jinbo Song, Yanhe Ma, Guoliang Yu, Bin Kong, Xiangdong Yanshan Univ Sch Mech Engn Qinhuangdao 066004 Peoples R China Yanshan Univ Sch Mech Engn State Key Lab Crane Technol Qinhuangdao 066004 Peoples R China

Parameter uncertainty and uncertain nonlinearity seriously influence the trajectory tracking control performance of hydraulic servo systems. To address this challenge, a fast-convergence nonlinear observer-based neural adaptive robust control strategy is proposed. Firstly, a faln nonlinear function-based fast-convergence observer is designed in this paper. The observer has two key advantages: (1) fast convergence rate of the closed-loop errors on a global scope, (2) high estimation accuracy. Especially, to deal with uncertain disturbances, an adaptive neural network and observer are used to estimate in parallel, which reduces the estimation burden of the observer. Additionally, a neural adaptive robust controller is proposed to solve the physical parameter uncertainty of the system and suppress (compensate) the unexpected nonlinear disturbance. More importantly, the stability of the whole closed-loop system is guaranteed by Lyapunov theory. Finally, the effectiveness of the proposed nonlinear observer is verified by numerical simulation. Comparative motion experiments were carried out under low-frequency, high-frequency, additional external disturbance and triangular wave. The experimental results show that the proposed strategy significantly improves the trajectory tracking performance and robustness of hydraulic servo system.

关键词： Nonlinear extended state observer adaptive neural network adaptive robust control Hydraulic servo position system

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Hydrodynamics and friction compensated adaptive robust control of underwater electric manipulator with precise tracking performance

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OCEAN ENGINEERING 2025年 327卷

作者： Shen, Chong Hu, Xincheng Huang, Fanghao Mei, Deqing Chen, Zheng Zhejiang Univ State Key Lab Ocean Sensing Hangzhou 310058 Peoples R China Zhejiang Univ Ocean Coll Zhoushan 316021 Peoples R China

With the potential for high accuracy and fast response, the underwater electric manipulator becomes a new choice equipped on underwater vehicles to execute operation tasks. However, commonly used model-free controllers such as PID may encounter the problem of inferior control accuracy that even deteriorates the operation ability of manipulator. In this paper, a model-based adaptive robust controller (ARC), which involves the hydrodynamic and friction compensation, is proposed to achieve precise tracking performance. Specifically, the typical dynamics of underwater electric manipulators is established, which considers the characteristics of fluid-structure interaction (FSI) and joint friction. To cope with model nonlinearity and parameter uncertainties that especially exist in the hydrodynamics and friction dynamics, the parameter adaptation law is designed to adaptively update uncertain parameters, based on which model compensation laws are further involved in the proposed controller that can compensate hydrodynamics and friction dynamics. Additionally, the robust feedback is designed to cope with the residual disturbance and modelling error. Comparative experiments are carried out in a tank, and results verify the effectiveness of proposed controller that can achieve the performance of precise tracking and fast response.

关键词： Underwater electric manipulator Hydrodynamics Joint friction adaptive robust control

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Compensation adaptive robust control for a linear motor-driven stage system with state and input constraints based on gated recurrent unit architecture

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2025年第5期47卷 886-895页

作者： Xiao, Longxiang Song, Zhibao Shandong Univ Sci & Technol Coll Math & Syst Sci Qingdao 266590 Shandong Peoples R China

Motion control of mechatronic systems with uncertainties and physical constraints, while ensuring robustness and achieving better performance, such as high tracking accuracy and fast response, has always been a hot topic. However, the most current related works only focus on how to guarantee system stability under constraints, and few consider comprehensive performance. This paper investigates gated recurrent unit (GRU)-based compensation adaptive robust control (ARC) for uncertain linear motor-driven stage system with state and input constraints. To achieve rapid and precise motion control, a dual-loop control structure is employed, where GRU and ARC are the outer loop and the inner loop, respectively. First, the ARC control law is used to deal with the parameters uncertainty and external disturbances in the system, which further improves the tracking accuracy. A GRU neural network is then constructed and capable of implementing precise prediction ahead of the actual system output. Through choosing suitable loss function and training model, it can effectively minimize prediction error under state and input constraints. Comparative experiment results demonstrate the superiority and validity of the proposed scheme on the basis of GRU and ARC.

关键词： Motion control linear motor-driven stage system gated recurrent unit GRU adaptive robust control ARC physical constraints

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Observer-based adaptive robust control scheme of ship-mounted 3-SPS/U parallel platform for wave compensation

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2025年

作者： Wang, Tianzhu Zhang, Qiang Fang, Jinhui Lai, Zhenyu Feng, Ruilin Wei, Jianhua Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Peoples R China Hangzhou Doubltech Electrohydraul Engn Co Ltd Hangzhou Peoples R China

Wave-induced ship motions profoundly impact and even threaten the operational effectiveness of ship-mounted equipment. To compensate for the wave-induced ship motions in heave, roll, and pitch directions, this paper proposes an innovative drive scheme and stabilization control algorithm for a ship-mounted 3-SPS/U parallel platform, while accounting for model and parameter uncertainties. Specifically, a dual-valve parallel hydraulic system is employed to drive the platform, enhancing its driving capability and engineering applicability. Furthermore, using the Kane's method, a comprehensive non-inertial dynamics model is established in the task space, accounting for the influence of inertial forces on the platform. Based on it, by constructing a detailed mechanical-hydraulic model, a novel observer-based adaptive robust scheme is designed using the backstepping method. Specifically, the high-performance nonlinear observer is designed to simplify and solve the complex multi-parameter uncertainties problem in the multi-input non-inertial dynamics model, and the adaptive robust controller is designed to handle the unknown proportional valve dead-zone problem and other nonlinearities, ensuring precise control. The stability of the system is verified through the Lyapunov method, with co-simulation results corroborating the superior compensation performance of the proposed methodology.

关键词： adaptive robust control nonlinear observer motion compensation parallel platform dual-valve hydraulic system model and parameter uncertainties

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adaptive robust control for triple avoidance - striking - arrival performance of uncertain tank mechanical systems

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Defence Technology（防务技术） 2022年第8期18卷 1483-1497页

作者： Zong-fan Wang Guo-lai Yang Xiu-ye Wang Qin-qin Sun Yu-ze Ma The School of Mechanical Engineering Nanjing University of Science and TechnologyJiangsuPeople's Republic of China

This paper puts forward an unprecedented avoidance-striking-arrival problem aiming to address the need for tank's uncertain mechanical systems on the intelligent *** associated system uncertainties(possibly rapid)are time-varying but bounded(possibly unknown).The goal is to design a controller that enables the tank to aim at and attack the enemy tank while keeping itself(out of the enemy fire zone).The tank maintains this condition until reaching the predefined *** this paper,an approximate constraint following control method is adopted to solve this problem,and the original constraints are creatively divided into two categories:the avoidance-tracking constraint and the striking-arrival *** adaptive robust control method is proposed and consequently verified through simulation *** is proved that the system fully obeys the avoidance-tracking-constraint and strictly obeys the striking-arrival constraint under the control ***,the control of the tank vehicle running system and tank gun bidirectional stabilization system are unified to deal with the control signal delay caused by complex uncertainties on the ***,this paper reduced the delay of signal transmission in the system while solved the avoidance-striking-arrival problem.

关键词： adaptive robust control Multivariable tank system Uncertainty Constraint following Avoidance-striking-arrival

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adaptive robust control of oxygen excess ratio for PEMFC system based on type-2 fuzzy logic system

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INFORMATION SCIENCES 2020年 511卷 1-17页

作者： Zhang, H. K. Wang, Y. F. Wang, D. H. Wang, Y. L. Northeastern Univ Sch Mech Engn & Automat Shenyang 110819 Liaoning Peoples R China La Trobe Univ Dept Comp Sci & Comp Engn Melbourne Vic 3086 Australia Minist Educ Key Lab Integrated Automat Proc Ind Shenyang 110819 Liaoning Peoples R China

The Proton Exchange Membrane Fuel Cell (PEMFC) air supply system takes on the characteristics of external disturbances and uncertain parameters, which is difficult to achieve accurate modeling and stability control. In this paper, an adaptive robust controller based on type-2 fuzzy logic systems (T2-FLS) is proposed to control the oxygen excess ratio (OER) of PEMFC air supply system. The controller does not need the unmodeled dynamics, which can be approximated by adaptive T2-FLS whose adaptive parameters are derived based on Lyapunov theory. The stability analysis shows that the system tracking error is uniform ultimate bounded. Finally, the practicability and feasibility of controller are validated by numerical simulation and Hardware-In-Loop (HIL) experiment. (C) Crown Copyright 2019 Published by Elsevier Inc. All rights reserved.

关键词： Type-2 fuzzy logic system adaptive robust control Oxygen excess ratio Lyapunov stability Hardware-In-Loop

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