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adaptive robust control with slipping parameters estimation based on intelligent learning for wheeled mobile robot

ISA TRANSACTIONS 2024年 147卷 577-589页

作者： Korayem, M. H. Safarbali, M. Lademakhi, N. Yousefi Iran Univ Sci & Technol Sch Mech Engn Ctr Excellence Expt Solid Mech & Dynam Robot Res Lab Tehran Iran

The widespread use of wheeled mobile robots (WMRs) in many fields has created new challenges. A critical issue is wheel slip, which, if not accurately determined and controlled, causes instability and deviation from the robot's path. In this paper, an intelligent approach for estimating the longitudinal and lateral slip of wheels is proposed that can effectively compensate for the negative effects of slippage. The proposed algorithm relies on three regression networks to estimate the longitudinal slip ratio of the right and left wheels and sideslip angle on terrains with different friction coefficients. The datasets collected during tests on different surfaces with various maneuvers are used to train the artificial neural networks (ANNs). A developed dynamic model of a WMR considering wheel slip and modified traction force is presented. The adaptive robust controller, based on sliding mode control (SMC), is introduced to deal with the problems related to slipping, unknown uncertainties, and disturbances. The simulation results demonstrate that the presented controller has better performance than SMC in handling external disturbances and uncertainties, which leads to reduction in tracking error and faster convergence to zero. The proposed controller with an intelligent slip estimator, has been applied to a four-wheel mobile robot to demonstrate its effectiveness and feasibility. The high accuracy of slip estimation in the mentioned intelligent algorithm has resulted in the presented method being on average 26% more effective in reducing the tracking error than the control method without slip compensation in each test for circular trajectory.

关键词： Wheel slip estimation Intelligent learning adaptive robust control Wheeled mobile robot

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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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adaptive robust control for unmanned combat platform: Obstacles avoiding and dynamic trajectory tracking

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ASIAN JOURNAL OF control 2024年第3期26卷 1264-1283页

作者： Sun, Qinqin Chen, Yu Wang, Xiuye Wang, Yinlong Nanjing Univ Aeronaut & Astronaut Sch Energy & Power Engn Nanjing Peoples R China Nanjing Univ Sci & Technol Sch Mech Engn Nanjing Peoples R China Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Jiangsu Peoples R China

This paper proposes an adaptive robust control scheme to deal with the uncertainty problem of unmanned combat platform. Under the constraint of the controller, the rescue vehicle aims to follow the trajectory of the reconnaissance vehicle and avoid obstacles (e.g., craters and destroyed tanks), while they eventually reach the defined target location (an accident area). First, for the control objective, the original constraints are innovatively separated into two parts: arrival constraint and tracking-avoidance constraint. An approximate constraint-following control substitutes for the triple problem, and the constraint-following error is subsequently established. Second, for the control strategy, a beta$$ \beta $$-measure is introduced to measure the constraint-following error. To ensure the tracking-avoidance constraint and the arrival constraint can be fully satisfied by the system, an adaptive robust control is designed. Finally, for the fast time-varying uncertainty with unknown boundary, an adaptive law is introduced to evaluate the triple tracking-avoidance-arrival performance. In conclusion, the main contribution of this paper is to achieve triple tracking-avoidance arrival for unmanned combat platform, and the problem of military detection and rescue on complex battlefields can be eliminated.

关键词： adaptive robust control constraint following time-varying uncertainties tracking-avoidance-arrival unmanned combat platform

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adaptive robust control of unmanned tracked vehicles for trajectory tracking based on constraint modeling and analysis

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NONLINEAR DYNAMICS 2024年第11期112卷 9117-9135页

作者： Wang, Xiuye Wang, Yinlong Sun, Qinqin Chen, Yu Al-Zahran, Ahmed Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Jiangsu Peoples R China ZheJiang Traff Technician Coll Dept Automot Engn Jinhua 321015 Zhejiang Peoples R China Nanjing Univ Aeronaut & Astronaut Sch Energy & Power Engn Nanjing 210016 Peoples R China Univ Jeddah Dept Mech & Mat Engn Jeddah Saudi Arabia

A novel trajectory tracking control problem based on constraint modeling and analysis is addressed by the way of constraint-following control for the unmanned tracked vehicle in this paper. The unmanned tracked vehicle system contains time-varying uncertainty which is possibly swift but bounded, and the bound is possibly unknown. First, the coupled dynamics model of unmanned tracked vehicle is established. By taking into account the kinematic characteristics, it makes the motion control of unmanned tracked vehicles more precise. Meanwhile, a 3D virtual prototype model is established for the unmanned tracked vehicle. Second, for the control objective of trajectory tracking, the related problem is converted into a constraint-following problem, and an adaptive robust controller is therefore proposed based on this for the controlled unmanned tracked vehicle system to satisfy the trajectory tracking constraint. Finally, it is proved that the controlled unmanned tracked vehicle system can achieve accurate trajectory tracking with the proposed adaptive robust control, even under the interference of complex time-varying uncertainties. Modeling accurate dynamics and trajectory tracking constraints for unmanned tracked vehicles while designing an adaptive robust controller to realize accurate motion control for unmanned tracked vehicles even under strong external disturbances are the main contributions of this paper.

关键词： Unmanned tracked vehicle Constraint-following Trajectory tracking control adaptive robust control Constraint modeling

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adaptive robust control for Pendubot with matched-mismatched uncertainty via constraint-following

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ROBOTICA 2023年第5期41卷 1550-1567页

作者： Wei, Cui Chen, Ye-Hwa Chai, Tianyou Fu, Jun Nanjing Tech Univ Inst Intelligent Mfg Nanjing 210009 Peoples R China Georgia Inst Technol George W Woodruff Sch Mech Engn Atlanta GA 30332 USA Northeastern Univ State Key Lab Synthet Automation Proc Ind Shenyang 110819 Peoples R China

The study presents an adaptive robust control method for the Pendubot subjects to matched and mismatched uncertainty. First, the control task is formatted as a reduced-dimension equality constraint of the system states. To handle the matched and mismatched uncertainties, an orthogonal decomposition method is employed to make the mismatched part disappear after decomposition. Based on the above, an adaptive robust control law based on constraint-following is devised. By the Lyapunov approach, it is rigorously proven that the proposed approach ensures the uniform boundedness and uniform ultimate boundedness of the closed-loop control system and thus renders approximate constraint-following, regardless of uncertainty. Simulation and experimental results are provided and discussed, demonstrating the good performance of the proposed approach.

关键词： constraint-following underactuated Pendubot matched-mismatched uncertainty adaptive robust control

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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 for fully electric pitch system of tank with dynamic friction compensation

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JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2022年第10期36卷 4967-4978页

作者： Lin, Darui Wang, Xiuye Yang, Guolai Yuan, Shusen Sun, Qinqin Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Peoples R China Nanjing Univ Aeronaut & Astronaut Sch Energy & Power Nanjing Peoples R China

This article addresses a problem of dynamic friction compensation for fully electric pitch system of tank based on modified LuGre model. Aiming to design a controller to realize friction modeling and compensating of fully electric pitch system of tank in large range of motion speeds. First, a nonlinear mathematical model including modified friction model and time-varying disturbance is established for fully electric pitch system of tank. Second, a disturbance compensation robust feedback term is designed to compensate the time-varying disturbance to reduce the impact of the disturbance on the control performance by adaptive estimation of the upper bound of the unmodeled disturbance. Third, the uncertainty parameters and friction state of the system are estimated and the adaptive control law combined with friction compensation is designed to reduce the sensitivity of the system to parameter uncertainty and nonlinear friction. Fourth, the global stability of the system is proved by Lyapunov stability theory. Finally, a virtual prototype model of tank moving based on friction disturbance and road excitation is established. The co-simulation results show that the proposed method can accurately estimate and compensate model parameters, nonlinear friction states and disturbances, and has the advantages of high control precision, good stability and strong robustness.

关键词： adaptive robust control Dynamic friction compensation Electric cylinder Tank pitch system Time-varying disturbance

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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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adaptive robust control for Pointing Tracking of Marching Turret-Barrel Systems: Coupling, Nonlinearity and Uncertainty

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2022年第9期23卷 16397-16409页

作者： Sun, Qinqin Wang, Xiuye Yang, Guolai Ye-Hwa Chen Ma, Fai Nanjing Univ Aeronaut & Astronaut Sch Energy & Power Engn Nanjing 210016 Peoples R China Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Jiangsu Peoples R China Georgia Inst Technol George W Woodruff Sch Mech Engn Atlanta GA 30332 USA Changan Univ Key Lab Rd Construct Technol & Equipment MOE Xian 710064 Shanxi Peoples R China Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

Pointing tracking control of marching turret-barrel system is one of the important topics in exploration of intelligent ground combat platform. This paper focuses on an adaptive robust control scheme for pointing tracking of marching turret-barrel system driven by a motor and an electric cylinder. Three types of possibly fast time-varying but bounded uncertainty are considered: system modeling error, external disturbance and road excitation. The uncertainty bounds are not necessary to be known. First, the pointing tracking system is constructed as a coupled, nonlinear and uncertain dynamical system with two interconnected (horizontal and vertical) subsystems. Second, a tracking error e is defined as a gauge of control objective, and then the dynamical equation of the pointing tracking system is built in state-space form. Third, for uncertainty control, a comprehensive uncertainty bound alpha is derived to measure the most conservative influence of the uncertainty, and then an adaptive law is proposed to evaluate it in real time. Finally, for pointing tracking control, an adaptive robust control is proposed to render the pointing tracking system to be practically stable;thereout, the objective of pointing tracking is achieved. This work should be among the first ever endeavours to cast all the coupling, nonlinearity and bound-unknown uncertainty into the pointing tracking framework of marching turret-barrel system.

关键词： Uncertainty Couplings adaptive systems Torque robust control control systems Nonlinear dynamical systems Intelligent ground combat platform turret-barrel system intelligent control pointing tracking uncertainty adaptive robust control

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Optimal design of Udwadia-Kalaba theory-based adaptive robust control for permanent magnet linear synchronous motor

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JOURNAL OF VIBRATION AND control 2024年第3-4期30卷 616-631页

作者： Wang, Faliang Chen, Ke Zhen, Shengchao Zheng, Hongmei Chen, Xiaofei Chen, Feng Hefei Univ Technol Sch Mech Engn Hefei Peoples R China Jingdezhen Univ Sch Mech & Elect Engn Jingdezhen Peoples R China Anhui Artificial Intelligence Lab Hefei Peoples R China Hefei Univ Technol AnHui Key Lab Digital Design & Mfg Hefei Peoples R China Hefei Univ Inst Adv Mfg Engn Hefei Anhui Peoples R China Hefei Univ Technol Sch Mech Engn 193 Tunxi Rd Hefei 230009 Peoples R China

The control performance of permanent magnet linear synchronous motor (PMLSM) is limited by uncertainty. The uncertainty is bounded by an unknown bound and may be time-varying. The boundary information of uncertainty is unknown but can be described by fuzzy set theory. To mitigate the impact of uncertainty on control performance, this paper proposes a Udwadia-Kalaba theory-based adaptive robust control (UKBARC). The proposed controller contains a Udwadia-Kalaba theory-based controller and an adaptive robust controller. In the Udwadia-Kalaba theory-based controller, the expected trajectory is taken as the expected constraint, and then the control task is converted to make the expected constraint be followed. Additionally, the adaptive robust controller is introduced to handle the system uncertainty without requiring the boundary information of uncertainty. The Lyapunov method is used to show that the performance of uniform boundedness (UB) and uniform ultimate boundedness (UUB) for the PMLSM system is guaranteed. The objective function used to characterize the trade-off between performance and control cost can be derived based on the fuzzy description of uncertainty. Thus, the optimal design of UKBARC (OUKBARC) can be achieved by minimizing the objective function. Simulation and experiment results together verify that high precision motion control can be ensured by using the proposed approach.

关键词： Permanent magnet linear synchronous motor uncertainty fuzzy set theory Udwadia-Kalaba theory adaptive robust control optimal design

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