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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Moyang Zou Ya-Jun Pan Shane Forbrigger Usman Ahmad Department of Mechanical Engineering Dalhousie University Halifax Nova Scotia Canada

ISBN: (纸本)9781509040605

Bilateral teleoperation systems have been extensively developed over decades. Communication delay is one of the most challenging control design problems. Additionally, nonlinearity, parameter variation, and uncertainty in the environment dynamics and robot model are also challenging issues that should be taken into account for excellent control performance. In our work, we propose a globally stable non-linear adaptive robust control structure is proposed, dealing with the following problems. Firstly, this new control structure can tolerate arbitrary, long, and time-varying delays. Secondly, a nonlinear adaptive robust control scheme is proposed to stabilize the system under nonlinearities, unknown parameters, modeling errors and uncertainties in the system, in order to ensure excellent tracking performance on both sides. Thirdly, an environmental torque estimator is designed to estimate immeasurable torques by a least square adaptive law. Moreover, a novel structure of communication block is developed. The master trajectory is sent to the slave side. However, from the slave side to the master side, estimated parameters of the environmental torque are transmitted back. This structure is designed to enhance the control performance of the adaptive robust controller. To ensure the desired transparency performance, an impedance control structure is developed on the master side. The proposed approach can guarantee robust stability, excellent transparency and synchronization under arbitrary time-varying delays. In simulation, two 2-DoF robotic manipulators are considered to verify the effectiveness of the control design.

关键词： time-varying systems adaptive control control system synthesis delays manipulators nonlinear control systems robust control telerobotics Manipulators adaptive robust control Telerobots control system synthesis Nonlinear control systems time-varying systems control performance robust control adaptive control control Architecture design control delay

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adaptive robust control with extended disturbance observer for motion control of DC motors

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ELECTRONICS LETTERS 2015年第22期51卷 1761-1762页

作者： Yang, Yanyu Wang, Yong Jia, Ping Univ Sci & Technol China Beijing Peoples R China Chinese Acad Sci Chang Chun Inst Opt Fine Mech & Phys Changchun Peoples R China

This Letter proposes an extended disturbance observer (EDO) based adaptive robust control method for motion control of DC motors. An adaptive part for structured uncertainties, an EDO for unstructured uncertainties and a feedback robust law for global robustness are designed in this method. The theoretical analysis guarantees a prescribed tracking performance under various uncertainties and comparative numerical simulation shows the excellent high-precision performance of proposed method on DC motor motion control.

关键词： DC motors adaptive control feedback machine control motion control observers robust control uncertain systems DC motors EDO adaptive robust control extended disturbance observer motion control structured uncertainties

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Cross-coupling integral adaptive robust posture control of a pneumatic parallel platform

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Journal of Central South University 2016年第8期23卷 2036-2047页

作者：左赫陶国良 State Key Laboratory of Fluid Power Transmission and Control Zhejiang University

A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-based controller designed. The pneumatic muscles were controlled by three proportional position valves, and the air cylinder was controlled by a proportional pressure valve. As the forward kinematics of this structure had no analytical solution, the control strategy should be designed in joint space. A cross-coupling integral adaptive robust controller(CCIARC) which combined cross-coupling control strategy and traditional adaptive robust control(ARC) theory was developed by back-stepping method to accomplish trajectory tracking control of the parallel platform. The cross-coupling part of the controller stabilized the length error in joint space as well as the synchronization error, and the adaptive robust control part attenuated the adverse effects of modelling error and disturbance. The force character of the pneumatic muscles was difficult to model precisely, so the on-line recursive least square estimation(RLSE) method was employed to modify the model compensation. The projector mapping method was used to condition the RLSE algorithm to bound the parameters estimated. An integral feedback part was added to the traditional robust function to reduce the negative influence of the slow time-varying characteristic of pneumatic muscles and enhance the ability of trajectory tracking. The stability of the controller designed was proved through Laypunov's theory. Various contrast controllers were designed to testify the newly designed components of the CCIARC. Extensive experiments were conducted to illustrate the performance of the controller.

关键词： servo-pneumatic system pneumatic muscle parallel platform cross coupling adaptive robust control parameter estimation

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adaptive robust tracking control of a class of nonlinear systems with input delay

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NONLINEAR DYNAMICS 2016年第2期85卷 1127-1139页

作者： Roy, Spandan Kar, Indra Narayan Indian Inst Technol Delhi Dept Elect Engn New Delhi India

In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to time-varying input delay and bounded disturbances is addressed. To this front, a novel delay-dependent control law referred as adaptive robust outer loop control (AROLC) is proposed. Compared to the conventional predictor-based approaches, the proposed controller is capable of negotiating any input delay, within a stipulated range, without knowing the delay variation. The maximum allowable input delay is computed through Razumikhin-type stability analysis. AROLC also provides robustness against the disturbances due to the input delay, parametric variations and unmodelled dynamics through switching control law. The novel adaptive law allows the switching gain to modify itself online in accordance with the tracking error without any prerequisite of the uncertainties. The uncertain system, employing AROLC, is shown to be uniformly ultimately bounded. As a proof of concept, experimentation is carried out on a nonholonomic wheeled mobile robot with various time varying as well as fixed input delay, and better tracking accuracy of the proposed controller is noted compared to predictor-based methodology.

关键词： adaptive robust control Euler-Lagrange systems Input delay Razumikhin theorem Wheeled mobile robot

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Neural adaptive robust control of underactuated marine surface vehicles with input saturation

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APPLIED OCEAN RESEARCH 2015年 53卷 267-278页

作者： Shojaei, Khoshnam Islamic Azad Univ Najafabad Branch Dept Elect Engn Najafabad Iran

This paper proposes a saturated tracking controller for underactuated autonomous marine surface vehicles with limited torque. First, a second-order open-loop error dynamic model is developed in the actuated degrees of freedom to simplify the design procedure. Then, a saturated tracking controller is designed by utilizing generalized saturation functions to reduce the risk of actuator saturation. This, in turn, improves the transient performance of the control system. A multi-layer neural network and adaptive robust control techniques are also employed to preserve the controller robustness against unmodeled dynamics and environmental disturbances induced by waves and ocean currents. A Lyapunov stability analysis shows that all signals of the closed-loop system are bounded and tracking errors are semi-globally uniformly ultimately bounded. Finally, simulation results are provided for a hovercraft vehicle to illustrate the effectiveness of the proposed controller as a qualified candidate for real implementations in offshore applications. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Actuator saturation adaptive robust control Generalized saturation function Hovercraft vehicle Neural network Underactuated surface vehicle

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Variable Neural adaptive robust control: A Switched System Approach

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2015年第5期26卷 903-915页

作者： Lian, Jianming Hu, Jianghai Zak, Stanislaw H. Purdue Univ W Lafayette IN 47907 USA Purdue Univ Sch Elect & Comp Engn W Lafayette IN 47907 USA

Variable neural adaptive robust control strategies are proposed for the output tracking control of a class of multiinput multioutput uncertain systems. The controllers incorporate a novel variable-structure radial basis function (RBF) network as the self-organizing approximator for unknown system dynamics. It can determine the network structure online dynamically by adding or removing RBFs according to the tracking performance. The structure variation is systematically considered in the stability analysis of the closed-loop system using a switched system approach with the piecewise quadratic Lyapunov function. The performance of the proposed variable neural adaptive robust controllers is illustrated with simulations.

关键词： adaptive robust control piecewise quadratic Lyapunov function self-organizing approximator uncertain system variable-structure neural network

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adaptive robust motion control of a fast forging hydraulic press considering the nonlinear uncertain accumulator model

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2016年第6期230卷 483-497页

作者： Zhang, Qiang Fang, Jinhui Wei, Jianhua Xiong, Yi Wang, Gang Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Zhejiang Peoples R China

This article focuses on the high-performance motion control of an accumulator assistant fast forging hydraulic press. As the accumulator has a significant impact on the motion control performance of the fast forging hydraulic press, the dynamic and static characteristics of the accumulator are studied and a simplified mathematical model is applied in the motion controller design. To hold the nonlinear parameter uncertainty associated with the accumulator model, a nonlinear damping regulator and a nonlinear robust feedback are synthesized based on the simplified mathematical model. The virtual control law lumped flow is proposed to act as the equivalent input of the fast forging hydraulic press, which successfully solves the decoupling problem and makes the motion controller design feasible. And the most economical distribution scheme is finally applied to synthesize the actual control law for each fast forging valve. In consideration of the parametric uncertainties and uncertain nonlinearities appearing in the mathematical model of the accumulator assistant fast forging hydraulic press, the discontinuous projection-based adaptive robust control is extended to synthesize the motion controller. Both simulation and experiment results demonstrate that with the proposed motion controller, the transient performance and final tracking accuracy are guaranteed although the system is subjected to various model uncertainties coming from both parametric uncertainties and uncertain nonlinearities. Furthermore, with the proposed nonlinear damping regulator, the influence of the accumulator can be well compensated and the control performance is improved.

关键词： Accumulator assistant fast forging hydraulic press simplified accumulator model nonlinear damping regulator lumped flow distribution scheme adaptive robust control

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adaptive robust Interaction Force control of a Robotic Manipulator in Uncertain Environments

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2025年

作者： Huang, Junsheng Yuan, Mingxing Huo, Zixuan Zhang, Shuaikang Zhang, Xuebo Nankai Univ Inst Robot & Automat Informat Syst IRAIS Coll Artificial Intelligence Tianjin 300350 Peoples R China Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin 300350 Peoples R China

This article presents a novel adaptive robust interaction force control approach that aims to achieve accurate and robust force modulation of a robot manipulator in uncertain environments. First, a novel interaction model between manipulator and environment is developed that captures both structured and unstructured uncertainties. According to the developed interaction model, a two-loop control scheme is developed, which consists of an adaptive robust interaction controller (ARIC) in the outer loop and a motion tracking controller in the inner loop. With the proposed ARIC, the unknown structured parameters of the developed interaction model are estimated online. These estimated parameters are then utilized to generate feedforward compensation actions in the mechanism of ARIC, while unstructured uncertainties are addressed through robust feedback control so that excellent interaction force tracking accuracy can be ensured. In addition, the theoretical stability analysis of the ARIC is presented and practical experiments are carried out on a robot manipulator. The experimental results confirm the superiority of the proposed approach over these typical algorithms in terms of interaction force tracking performance in different environments.

关键词： Uncertainty Robots Force Dynamics Impedance Force control Adaptation models Trajectory Accuracy Manipulators adaptive robust control interaction force control robotic manipulator uncertain environments

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The prediction of projectile-target intersection for moving tank based on adaptive robust constraint-following control and interval uncertainty analysis

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Defence Technology（防务技术） 2024年第1期31卷 351-363页

作者： Cong Li Xiuye Wang Yuze Ma Fengjie Xu Guolai Yang The School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing290014PR China Inner Mongolia North Heavy Industries Co. Ltd.Baotou014033PR China Nanjing Chenguang Group Co. Ltd.Nanjing210006PR China

To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is *** method proposed provides a novel way to predict the impact point of projectile for moving ***,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering ***,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of ***,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is ***,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control *** results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit *** adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.

关键词： Tank stability control Constraint-following adaptive robust control Uncertainty analysis Prediction of projectile-target intersection

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The Impact-point Prediction of Projectile for Moving Tank Based on adaptive robust Constraint-following control

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2024年第6期22卷 1912-1923页

作者： Li, Cong Wang, Xiuye Yang, Guolai Ma, Yuze Nanjing Univ Sci & Technol Nanjing 290014 Peoples R China Inner Mongolia North Heavy Ind Co Ltd Baotou 014033 Peoples R China

To improve the hit probability of tank firing at high speed, an adaptive robust control strategy considering the exterior ballistic process is proposed based on constraint-following control, which is used to predict the impact point of projectile. First, the rigid-flexible coupling multibody system dynamics model of moving tank is constructed with nonlinear factors and uncertainty such as the flexible barrel, contact clearance, road excitation, and so on. Second, based on Udwadia-Kalaba theory, bidirectional stability constraints and constrained following error are constructed, and an adaptive robust controller considering model uncertainties and external disturbance is designed. Then, by combining the ordinary differential equation of exterior ballistic with the controller, the impact-point control of projectile is realized through coordinate transformation and geometric relations. Finally, the co-simulation demonstrates that it is feasible to integrate the exterior ballistic differential equation into the control system. And the proposed method has strong robustness while the tank is moving at high speed, which can effectively restrain the nonlinear factors and uncertainty, and meet the requirements of impact-point prediction.

关键词： adaptive robust control constraint following impact-point prediction of projectile tank stability control

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