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

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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adaptive robust control of moving-target tracking for marching tank based on constraint following

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2022年第9期236卷 2087-2102页

作者： Ma, Yuze Yang, Guolai Sun, Qinqin Wang, Xiuye Sun, Quanzhao Nanjing Univ Sci & Technol Sch Mech Engn 200 Xiaoling Wei St Nanjing 210094 Jiangsu Peoples R China

This paper is devoted to the constraint-following scheme for the moving-target tracking control problem of tank on move. The mission of tank on the battlefield is to find and shoot the armored vehicle, both conditions are required to accomplish this task: complete the process from finding a moving target (time-varying constraints) to pointing to it;keep the barrel stable under highly nonlinear disturbance (which is caused by the battlefield environment). Considering modeling uncertainty and initial condition deviation, an adaptive robust strategy based on Udwadia-Kalaba scheme is presented to solve the matters of target tracking and stable following. Considering the limitation of the analytical model, a tracking system model and a target movement model are built in virtual prototyping environment, complicated road condition, and real target motion state are restored by this method. The model-based control system and the three-dimensional model are combined to verify the feasibility of the control algorithm by the method of RecurDyn/Matlab. By this way, the barrel responds and follows the movement of the target stably within 1 . 5 s under the action of the stabilization system, and the constraints are approximately satisfied under complex perturbations.

关键词： Mechanical system tank tracking control uncertainty road excitation constraint-following adaptive robust control

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adaptive robust control for the corner balancing Cubli system with uncertainties

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TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING 2022年第2期46卷 236-248页

作者： Huang, Kang Li, Jiandong Zhu, Zicheng Yu, Biao Hefei Univ Technol Sch Mech Engn Hefei Anhui Peoples R China Hefei Univ Technol Anhui Key Lab Digital Design & Mfg Hefei Anhui Peoples R China Chinese Acad Sci Hefei Inst Phys Sci Hefei Anhui Peoples R China

The Cubli is a cube that can balance on its edge or corner by rotating inertia wheels. It is a typical underactuated mechanical system, and has 6 degrees of freedom when balancing on its corner. In this paper, an adaptive robust control is presented to balance the uncertain Cubli system on its corner. The uncertainties are considered to be time-varying and bounded, but the bounds are unknown. We first established a dynamic model of the uncertain Cubli system, subject to the servo constraints. Next, we present the robust control with a leakage-type adaptive law. We used the Lyapunov theory to verify the stability of the control. Finally, the effectiveness of the control was verified through numerical simulation in MATLAB (TM).

关键词： Cubli system underactuated mechanical system constraints adaptive robust control uncertainties

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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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Nonlinear adaptive robust control of tank bidirectional stabilizers with dead zone compensation based on extended state observer

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ISA TRANSACTIONS 2024年 153卷 384-403页

作者： Wang, Yi-min Yuan, Shu-sen Wang, Li-qun Yang, Guo-lai Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Peoples R China Nanjing Univ Sci & Technol Natl Key Lab Transient Phys Nanjing 210094 Peoples R China

In this paper, the problem of highly performance motion control of tank bidirectional stabilizer with dead zone nonlinearity and uncertain nonlinearity is addressed. First, the electromechanical coupling dynamics model bidirectional stabilizer is developed finely. Second, the dead zone nonlinearity in bidirectional stabilizer characterized as the combination of an uncertain time-varying gain and a bounded disturbance term. Meanwhile, an adaptive robust controller with dead zone compensation is proposed by organically combining adaptive technique and extended state observer (ESO) through backstepping method. The adaptive technique is employed to reduce the impact of unknown system parameter and dead zone parameter. Furthermore, the ESO is constructed to compensate the lumped uncertainties including unmodeled dynamics and dead zone residual, and integrated together via a feedforward cancellation technique. Moreover, the adaptive robust control law derived to ensure final global stability. In stability analysis, the asymptotic tracking performance of the proposed controller can be guaranteed as the uncertainty nonlinearities in tank bidirectional stabilizer are constant. It also guaranteed to achieve bounded tracking performance when time-varying uncertainties exist. Extensive co simulation and experimental results verify the superiority of the proposed strategy.

关键词： Tank bidirectional stabilizer Dead zone compensation Extended state observer adaptive robust control Co-simulation and experiment

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Fuzzy Optimization Design of adaptive robust control for Uncertain Cooperative Robots with Servo Constraints

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2024年第4期26卷 1158-1174页

作者： Wang, Faliang Chen, Ke Zhen, Shengchao Chen, Xiaofei Zheng, Hongmei Hefei Univ Technol Sch Mech Engn Hefei 230009 Anhui Peoples R China Jingdezhen Univ Sch Mech & Elect Engn Jingdezhen 333000 Jiangxi Peoples R China Hefei Univ Technol Anhui Key Lab Digital Design & Mfg Hefei 230009 Anhui Peoples R China

In this paper, the reference trajectory tracking issue of cooperative robots system with bounded uncertainty is investigated from a novel standpoint of servo constraint-following. The bound of uncertainty is not known but can be characterized by the fuzzy set theory. Then, establishes the dynamical model of cooperative robots system with fuzzy uncertainty. The process of the proposed controller design contains two steps. First, an adaptive robust control is investigated which can render the desired servo constraint to be followed even if there exists uncertainty in the system, and through stability analysis by selecting appropriate Lyapunov function which proves uniform boundedness and ultimate uniform boundedness of tracking error. The second step is to find a parameter selection guideline for the optimal control parameter. Based on the fuzzy description of system uncertainty, a performance index consisting of system performance and control cost can be developed. Then, the selection of optimal control parameters translates into finding the parameter that makes the performance index minimized. Finally, numerical simulations are performed on a two-planar two-link manipulator system for evaluating the performance of the proposed method.

关键词： Fuzzy set theory adaptive robust control control parameter optimization Servo constraint-following

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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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