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IEEE International Conference on Mechatronics (ICM)

作者： Chen, Shan Han, Tenghui Dong, Fangfang Han, Jiang Lu, Lei Liu, Haijun Hefei Univ Technol Sch Mech Engn Hefei Peoples R China

ISBN: (纸本)9781728144429

Wearable lower limb exoskeleton is a kind of human robot integrated system which can be used to augment the human performance when carrying heavy loads. In recent years, in order to further reduce the self-weight and energy consumption of systems, underactuated exoskeletons are proposed. However, the existed control methods are mainly proposed for fully actuated exoskeletons which are hardly to be applied for underactuated systems. This paper focuses on the precision human machine interaction force control of 3DOF underactuated stance leg exoskeleton system so that accurate human motion trajectory tracking can still be achieved in principle load bearing directions. Specifically, we assume the wearer can provide an appropriate amount of torque to ensure the rotation angle of the exoskeleton back moving in a bounded trajectory. Considering the holonomic constraint provided by the wearer, the 3DOF underactuated exoskeleton system is then transformed into a 2DOF fully actuated system. An adaptive robust cascade force control algorithm is then developed to deal with various parameter uncertainties and uncertain nonlinearities (modeling errors and external disturbances). Comparative Simulation results show that the proposed adaptive robust cascade force control algorithm can achieve high precision human-machine interaction force control in principle load bearing directions, and has strong performance robustness to various model uncertainties.

关键词： Exoskeleton underactuated system human machine interaction force adaptive robust control

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Path tracking for wheeled mobile robot based on adaptive robust control 31

Path tracking for wheeled mobile robot based on adaptive rob...

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31st Chinese control And Decision Conference (CCDC)

作者： Shi, Wenrui Xu, Lijia Chen, Sanyan Liang, Yuan Sichuan Agr Univ Coll Mech & Elect Engn Yaan 625014 Sichuan Peoples R China

ISBN: (纸本)9781728101057

Aiming at the path tracking problem of wheeled mobile robot with parameter uncertainties and external disturbances, the control scheme combining backstepping technique, Nussbaum function and projection operator is proposed. By utilizing the Nussbaum function, the unknown control coefficient is dealt with in the controller design. In order to ensure the boundedness of parameter estimation, the projection operator is introduced in our control scheme. Based up on Lyapunov function, the stability of the closed-loop system is analysed. Finally, two simulations are given to show the validity of the proposed control scheme.

关键词： adaptive robust control wheeled mobile robot path tracking Nussbaum function projection operator

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adaptive robust pressure control of variable displacement axial piston pumps with a modified reduced-order dynamic model

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MECHATRONICS 2022年 87卷

作者： Helian, Bobo Mustalahti, Pauli Mattila, Jouni Chen, Zheng Yao, Bin Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Peoples R China Tampere Univ Fac Engn & Nat Sci FI-33014 Tampere Finland Zhejiang Univ Ocean Coll Zhoushan 316021 Peoples R China Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA Karlsruhe Inst Technol Inst Mobile Machines D-76131 Karlsruhe Germany

Variable displacement axial piston pumps (VDAPPs) are wildly used in mobile working machines and they play a key role in machine's energy-saving load sensing (LS) systems. Typically, electric load sensing (ELS) systems utilize traditional linear control methods, which only can realize limited control flexibility and performance. This study proposes and experimentally verifies an adaptive robust pressure control strategy for a VDAPP system. To facilitate the model-based controller design, a modified reduced-order dynamic modeling of VDAPPs is proposed. Furthermore, an adaptive robust backstepping control strategy is designed to deal with the dynamic nonlinearities and parametric uncertainties of the VDAPP system for achieving accurate pressure tracking. The controller design consists of two steps, processing the pump pressure tracking and the axial angle control, respectively. Comparative experiments and simulations with different working conditions were performed to validate the advantages of the proposed control strategy. The proposed controller achieved higher pressure tracking accuracy and it showed great capability in dealing with dynamic nonlinearities, uncertainties, and time-varying disturbances.

关键词： Axial piston pump Pressure control adaptive robust control Modeling Variable displacement pump

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Fuzzy Variable Impedance adaptive robust control Algorithm of Exoskeleton Robots 38

Fuzzy Variable Impedance Adaptive Robust Control Algorithm o...

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38th Chinese control Conference (CCC)

作者： Mi, Weiming Zhang, Tao Tsinghua Univ Dept Automat Beijing 100084 Peoples R China

ISBN: (纸本)9789881563972

As a frontier research field, the flexible control of exoskeleton robots still exists many problems to be solved. In this paper, a fuzzy variable impedance adaptive robust control algorithm (FARC) based on the exoskeleton robot dynamics model is proposed. This algorithm aims to solve problems that are the uncertain parameters of the dynamics model and the influence of the external disturbance. In particular, the impedance parameters are updated in real time by using fuzzy inference. In detail, dynamics model of the exoskeleton robot by using Lagrange equation is established, firstly. Then an adaptive robust control algorithm with fuzzy variable impedance based on dynamics model is proposed to solve the problems mentioned above. And it can be proven to yield asymptotic stability for the control algorithm in the presence of bounded nonlinear disturbances. Finally, the experimental results by co-simulation of Simulink and OpenSim demonstrate the effectiveness of our control algorithm.

关键词： exoskeleton robot variable impedance adaptive robust control fuzzy inference

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Research on adaptive robust control of Electro-hydraulic Composite Cylinder Under Complex Load Conditions

Research on Adaptive Robust Control of Electro-hydraulic Com...

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第32届中国控制与决策会议

作者： Haisheng Liu Wei Shen Beijing Institute of Technology School of Automation

With the rapid development of industrial automation,high-precision modeling and motion control of linear motion actuators have become very important in practical engineering ***,the conventional linear motion actuators such as electric cylinders are difficult to achieve good control effects under complex load *** order to solve this control problem,this paper adopts the Electro-hydraulic composite cylinder,a new type of integrated actuator as the controlled object and designs a control scheme for electro-hydraulic hybrid drive *** electric part of the composite cylinder is actively controlled,and an adaptive robust controller with continuous friction compensation is *** the same time,the robust integral of the sign of the error(RISE) is introduced in the controller to compensate for the approximate error and the bounded *** hydraulic part assists and produces a load balancing force through the combination of the hydraulic cylinder and the accumulator to attenuate the effects of complex load conditions on the entire controlled *** Simulation results demonstrate the effectiveness of the proposed control method.

关键词： Electro-hydraulic Composite Cylinder Hybrid Drive adaptive robust control Complex Load Conditions

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adaptive robust Nonlinear control Design for Course Tracking of Ships Subject to External Disturbances and Input Saturation

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2020年第1期50卷 193-202页

作者： Du, Jialu Hu, Xin Sun, Yuqing Dalian Maritime Univ Sch Informat Sci & Technol Dalian 116026 Peoples R China Dalian Maritime Univ Sch Marine Engn Dalian 116026 Peoples R China

An adaptive robust control law is proposed for the course tracking problem of ships in this paper incorporating a Nussbaum function and an auxiliary dynamic system into the adaptive dynamic surface control (DSC) technique. The ship steering dynamics is described by the Norrbin nonlinear model with completely unknown control coefficient, parameter uncertainties, and unknown external disturbances and input saturation caused by the rudder constraint. The Nussbaum function is adopted to deal with completely unknown control coefficient and avoid the controller singularity problem. An auxiliary dynamic system is introduced to handle the effect of input saturation. The DSC technique makes the control law be simple to compute and easy to implement in engineering practice. It is proved that the proposed course tracking control law of ships makes the course tracking error be arbitrarily small by an appropriate choice of the design parameters and guarantees the uniform ultimate boundedness of all signals in the closed-loop ship course control system. Finally, simulation results on two ships and simulation comparison with an existing adaptive neural control scheme demonstrate the effectiveness and the superiority of the proposed control scheme.

关键词： Marine vehicles adaptive systems control design Nonlinear dynamical systems Adaptation models Navigation robustness adaptive robust control course tracking dynamic surface control (DSC) input saturation Nussbaum function ship steering system

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adaptive robust control for a class of uncertain nonlinear system with input and state quantization 37

Adaptive robust control for a class of uncertain nonlinear s...

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37th Chinese control Conference (CCC)

作者： Liu, Yanbin Sun, Weichao Harbin Inst Technol Harbin 150001 Heilongjiang Peoples R China

ISBN: (纸本)9789881563958

In this paper, we present an adaptive robust control scheme for a class of uncertain nonlinear system with both uncertain parameters and disturbance under state and input quantization. The quantizers can be any form of uniform quantizers or logarithmic quantizers as long as the quantization error satisfies the sector-bounded condition. In the designed control law, the state quantization error is regard as un-modeled dynamic and compensated by an addition feedback term. Both theoretic and simulation results show that under the designed controller, in spite of uncertainties and quantization, all signal is bounded and the outputs of the system track the reference command with tracking errors in relation to quantization density.

关键词： Quantization nonlinear system adaptive robust control uncertainties

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adaptive robust control of Networked Multi-Manipulators with Time-Varying Delays

Adaptive Robust Control of Networked Multi-Manipulators with...

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American control Conference

作者： Henghua Shen Ya-Jun Pan Dalhousie University Halifax B3H 4R2 Canada

ISBN: (纸本)9781538679012;9781538679265

In this paper, an adaptive non-singular terminal sliding mode (NTSM) method is proposed for a networked multi-manipulator system. This paper aims at dealing with multiple challenging control problems. Firstly, a robust and adaptive controller is proposed to deal with random time-varying network delays in the existence of the parametric uncertainties in system dynamics, unknown frictions, and external disturbances. Secondly, the bounds of the uncertainties, frictions, and disturbances are not required as a prior by the robust adaptive control algorithm, while three compensatory bounds are calculated in real-time to compensate the errors introduced by the network delays and the acceleration estimation. Thirdly, for the network with the weak connectedness and unknown time-varying delays, the followers are able to synchronize to a time-varying leader trajectory. Numerical simulation results of a team of two degree-of-freedom (DOF) manipulators show that the designed control system ensures the good synchronizing performance with small and bounded tracking errors.

关键词： time varying System dynamics network delay adaptive robust control friction control systems adaptive controller

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Uniform robust exact differentiator based adaptive robust control for a class of nonlinear systems

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2018年第9期40卷 2901-2911页

作者： Xu, Zhangbao Ma, Dawei Yao, Jianyong Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Jiangsu Peoples R China

In this paper, an adaptive robust controller with uniform robust exact differentiator has been proposed for a class of nonlinear systems with structured and unstructured uncertainties. The adaptive robust controller is integrated with an uniform robust differentiator to handle the problem of the incalculable part of the derivative of virtual controls and the differential explosion happened in backstepping techniques. The stability of the closed loop system is demonstrated via Lyapunov method ensuring a prescribed transient and tracking performance. Simulation and experimental results are carried out to verify the advantages of the proposed method.

关键词： Nonlinear systems adaptive robust control uniform robust exact differentiator virtual controls differential explosion

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adaptive robust Motion control of a Pump Direct Drive Electro-hydraulic System with Meter-Out Pressure Regulation 21st

Adaptive Robust Motion Control of a Pump Direct Drive Electr...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Helian, Bobo Chen, Zheng Yao, Bin Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Peoples R China Zhejiang Univ Ocean Coll Zhoushan 316021 Peoples R China Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA

In industry, pump-controlled hydraulic systems are generally considered energy efficient but are not accurate due to their inherent characteristics such as low response frequencies, thus pump control hydraulic systems have been traditionally applied in situations that require high power but limited accuracy. Besides, for the conventional pump-controlled cylinder systems, especially opencircuit systems, the cylinder vibration and cavitation may result due to the negative load when the cylinder moves with a high deceleration trajectory. Therefore, it is difficult to simultaneously keep the advantages of energy-saving and high motion tracking accuracy. This paper proposes a novel control strategy for a servo motor-pump and proportional valves combination control system. The cylinder is directly driven by a variable speed pump to give full play to the advantage of energy-saving by pump control. The meter-out pressure is controlled by proportional valves to provide the required resistance for motion tracking. A pressure regulation method is proposed, consisting of an optimized meter-out pressure planning and a pressure tracking controller. Both the pump controller and the meter-out pressure controller use the adaptive robust control (ARC) algorithm to achieve high motion control accuracy. Copyright (C) 2020 The Authors.

关键词： Motion control direct drive servo motor-pump meter-out throttling adaptive robust control

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