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9th International Conference on Automation, control and Robotics Engineering (CACRE)

作者： Ma, Tianheng Chen, Zheng Zhejiang Univ Ocean Coll Zhoushan Peoples R China Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou Peoples R China

ISBN: (纸本)9798350350319;9798350350302

In this paper, the trajectory tracking problem for underactuated Autonomous underwater vehicles (AUVs) is investigated. First, a nonlinear 4-DOF AUV model is adopted, considering the unknown parameters and external distances. Two control objectives and corresponding error dynamics are established according to different tracking errors. To achieve accurate AUV tracking control, an adaptive robust control strategy is proposed, combining the backstepping control ideology. This controller could adaptively estimate uncertain model parameters and disturbances recursively and compensate for the estimation errors robustly. Theoretical analysis demonstrates that the proposed control scheme can ensure system stability, enhance the transient response, and give great trajectory tracking performance, which is validated again by the numerical simulations.

关键词： Autonomous underwater vehicles (AUVs) Trajectory tracking adaptive robust control

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Observer-based adaptive robust control of Soft Pneumatic Network Actuators

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2022年第5期20卷 1695-1705页

作者： Cao, Guizhou Liu, Yanhong Zhu, Zhiwei State Grid Henan Elect Power Res Inst Zhengzhou 450052 Peoples R China Zhengzhou Univ Sch Elect Engn Zhengzhou 450001 Peoples R China

Fabricated by elastomer materials, soft pneumatic network actuators (PNAs) not only enable versatile applications but also bring challenges to the high-performance control. This study presents new observer-based adaptive robust controllers for PNAs subjected to system uncertainties and unavailable states. First, a sliding patch-based observer and an observer-based controller are addressed for PNAs with known upper bounds, and stability of closed-looped systems is proved by the Lyapunov method. Second, a novel disturbance observer is proposed for the case of prior unknown bounds of uncertainties, and the stability of the closed-looped system controlled by an adaptive robust controller is also analyzed by the Lyapunov method. Finally, the effectiveness of the proposed controllers is verified by simulations and experiments.

关键词： adaptive robust control disturbance observer sliding mode control soft pneumatic network actuator velocity estimation

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Research on adaptive robust control of pitching motion of a naval gun 9

Research on adaptive robust control of pitching motion of a ...

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9th International Symposium on Sensors, Mechatronics, and Automation System, ISSMAS 2023

作者： Ma, Xiao-He The 713 Research Institute of Cssc Zhengzhou450015 China

ISBN: (纸本)9781510672802

Nonlinear friction and interference are the main factors affecting the performance of the navel gun servo system. Targeting improving the control accuracy of the servo system, the mathematical model of the servo system was established based on the LuGre friction model, and the load during the movement of the pitch system was analyzed. Then the adaptive robust controller was designed according to the characteristics of the system, and the control effects of the adaptive robust controller and PID controller were analyzed through simulation comparison. The simulation results have revealed that the controller can effectively estimate and compensate for the nonlinear friction and interference, and significantly improves the control accuracy and robustness of the system. © 2024 SPIE.

关键词： adaptive robust control LuGre model naval gun servo system

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Optimal adaptive robust control for Uncertain Mechanical Systems: A Nash Game-Oriented Approach

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2022年第7期24卷 3226-3243页

作者： Zheng, Yunjun Zhao, Han He, Chunsheng Wu, Qilin Hefei Univ Technol Sch Mech Engn Hefei 230009 Peoples R China Hefei Univ Sch Adv Mfg Engn Hefei 230601 Peoples R China

This paper investigates a novel Nash game-oriented optimal adaptive robust control with the fuzzy evidence theory to deal with the constraint-following control problem for the uncertain mechanical system. This paper's innovations are composed of three parts. First, the uncertainty is nonlinear and time-varying in practice with little knowledge about it but considered bounded. This paper provides a fuzzy evidence theory to describe the uncertainty within a fuzzy evidence number. Second, we design a new adaptive robust control with a leakage-type self-correcting adaptive law to render the constrained mechanical system to follow the specified constraints accurately. It is shown that the designed adaptive law can compensate for the uncertainty and avoid overcompensation. The control is deterministic other than IF-THEN fuzzy rule-based and guarantees uniform boundedness and uniform ultimate boundedness. Third, we introduce the Nash game theory into the multi-parameter optimization design to optimize the two tunable control parameters. We choose the two control parameters as two players with cost functions relevant to the control cost and performance. Then we obtain the optimal control parameters in Nash equilibrium which is proved to exist and can be analytically obtained. Ultimately, the numerical simulations on the 2DOF robot manipulator are presented to demonstrate the proposed control scheme's effectiveness.

关键词： System uncertainty Constraint following Fuzzy set theory adaptive robust control Multi-parameter optimization

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Constraint-Based adaptive robust control for Active Suspension Systems Under the Sky-Hook Model

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2022年第5期69卷 5152-5164页

作者： Qin, Wu Liu, Feifei Yin, Hui Huang, Jin East China Jiaotong Univ Sch Mechatron & Vehicle Engn Nanchang 330013 Jiangxi Peoples R China East China Jiaotong Univ Key Lab Vehicles & Equipment Minist Educ Nanchang 330013 Jiangxi Peoples R China Hunan Univ State Key Lab Adv Design & Mfg Vehicle Body Changsha 410082 Hunan Peoples R China Tsinghua Univ Sch Vehicle & Mobil Beijing 100084 Peoples R China

The control problem of active suspension systems (ASSs) with uncertainties is considered in this article by formulating control goals as a series of equality constraint (i.e., soft constraint) and inequality constraint (i.e., hard constraint). Uncertainties are (possibly fast) time varying, bounded, and include large mismatched portions. However, bounds are unknown. The objective is to design an adaptive robust control driving the system to converge to soft constraints provided by the sky-hook model, and simultaneously, ensuring the system to meet hard constraints at every instant. The adaptive robust control design is implemented in four steps. First, we investigate a transformation technique for incorporating hard constraints into soft constraints and the model. Second, a nominal control is presented without considering uncertainty. Third, an orthogonal decomposition technique is proposed for dividing uncertainty into matched and mismatched portions, which creatively allocates the mismatched portion for later control design. Fourth, a continuous adaptive law is constructed to emulate a constant design parameter vector associated with uncertainty bounds. It is proved that the proposed control guarantees uniform boundedness and uniform ultimate boundedness of ASSs in the presence of uncertainties and hard constrains. Furthermore, experimental and simulation results on the 2-DOF ASS are presented to validate the effectiveness of the proposed control.

关键词： Uncertainty Suspensions (mechanical systems) Force Tires Damping Springs Safety Active suspension systems (ASSs) adaptive robust control hard constraints sky-hook model uncertainties

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A computationally efficient adaptive robust control scheme for a quad-rotor transporting cable-suspended payloads

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2022年第2期236卷 379-395页

作者： Ullah, Nasim Sami, Irfan Wang Shaoping Mukhtar, Hamid Wang, Xingjian Chowdhury, Md Shahariar Techato, Kuaanan Taif Univ KSA Coll Engn Dept Elect Engn POB 11099 At Taif 21944 Saudi Arabia Chung Ang Univ Sch Elect & Elect Engn Seoul South Korea Beihang Univ Sch Automat & Elect Engn Beijing Peoples R China TAIF Univ KSA Dept Comp Sci At Taif Saudi Arabia Prince Songkla Univ Fac Environm Management Environm Assessment & Technol Hazardous Waste Man Hat Yai Thailand Prince Songkla Univ Fac Environm Management Hat Yai Thailand

This article proposes a computationally efficient adaptive robust control scheme for a quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance of the quad-rotor controlled with conventional schemes, thus novel adaptive robust controllers with both integer- and fractional-order dynamics are proposed for the trajectory tracking of quad-rotor with cable-suspended payload. The disturbances acting on quad-rotor due to the payload motion are estimated by utilizing adaptive laws derived from integer- and fractional-order Lyapunov functions. The stability of the proposed control systems is guaranteed using integer- and fractional-order Lyapunov theorems. Overall, three variants of the control schemes, namely adaptive fractional-order sliding mode (AFSMC), adaptive sliding mode (ASMC), and classical Sliding mode controllers (SMC)s) are tested using processor in the loop experiments, and based on the two performance indicators, namely robustness and computational resource utilization, the best control scheme is evaluated. From the results presented, it is verified that ASMC scheme exhibits comparable robustness as of SMC and AFSMC, while it utilizes less sources as compared to AFSMC.

关键词： Quad-rotor control adaptive robust control fractional calculus payload processor in the loop experiments

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Optimal adaptive robust control Based on Cooperative Game Theory for a Class of Fuzzy Underactuated Mechanical Systems

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IEEE TRANSACTIONS ON CYBERNETICS 2022年第5期52卷 3632-3644页

作者： Chen, Xiaolong Zhao, Han Sun, Hao Zhen, Shengchao Al Mamun, Abdullah Hefei Univ Technol Sch Mech Engn Hefei 230009 Peoples R China Natl Univ Singapore Dept Elect & Comp Engn Singapore 117582 Singapore Hefei Univ Technol Anhui Key Lab Digital Design & Mfg Hefei 230009 Peoples R China

While designing control for a class of underactuated mechanical systems (UMSs), the uncertainty and the prescribed nonholonomic tracking trajectories should be taken into consideration. Uncertainty considered in this article is time varying and bounded, and the bound of uncertainty is described using the fuzzy set theory, namely, fuzzy UMSs. An analytical dynamics-based view is taken in which the prescribed tracking trajectories are viewed as servo constraints which can be linear, nonlinear, holonomic, and nonholonomic. Using this view, a novel closed form solution of adaptive robust control is found with leakage type adaptive law to guarantee deterministic system performance, including uniform boundedness and uniform ultimate boundedness. In order to find the optimal dual gain parameters of the designed control, a two-player cooperative game is proposed for which the Pareto optimality can always be guaranteed. The effectiveness of the proposed control is shown through numerical simulation of a two-wheeled inverted pendulum vehicle.

关键词： Games Servomotors Trajectory Uncertainty Mechanical systems Tracking Pareto optimization adaptive robust control cooperative game theory fuzzy dynamic systems optimal design Pareto optimality underactuated mechanical systems (UMSs)

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Musculoskeletal Modeling and Simulation of the Human Arm in Rehabilitation by Shoulder Wheel Device Using an adaptive robust control Scheme

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IRANIAN JOURNAL OF SCIENCE AND TECHNOLOGY-TRANSACTIONS OF MECHANICAL ENGINEERING 2022年第4期46卷 1067-1078页

作者： Ghorbani, Hossein Vatankhah, Ramin Haghpanah, Seyyed Arash Zolatash, Sareh Shiraz Univ Sch Mech Engn Shiraz Iran

Shoulder pain is one of the most common musculoskeletal pains among patients. Rehabilitation is the key to getting the shoulder back to its original position. The shoulder wheel device is one of the shoulder rehabilitation devices that a patient can rotate it in the sagittal plane. In this study, the musculoskeletal modeling and simulation of the human arm rehabilitation in the sagittal planar motion by a shoulder wheel device are studied. The end-point of the patient's arm on the shoulder wheel device follows a specific path. Desired trajectories of the shoulder and elbow joints are obtained using inverse kinematics. Optimal muscle forces are obtained using static optimization based on the Lagrange's coefficients method. Also, the adaptive nonsingular fast terminal sliding mode (ANFTSM) controller is provided to control the end-point of the human arm on the path of the shoulder wheel device by taking into account uncertainties and disturbances. Eventually, numerical simulations are presented to show the results of the static optimization problem of the muscle forces and the performance of the ANFTSM controller as the human nervous system to generate control signals in the presence and absence of uncertainties and disturbances.

关键词： Musculoskeletal model Shoulder wheel device Rehabilitation Static optimization adaptive robust control

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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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adaptive robust control and Optimal Design for Fuzzy Unmanned Helicopter Tail Reduction

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2020年第5期22卷 1400-1415页

作者： Zhao, Han Zhu, Zicheng Sun, Hao Hefei Univ Technol Sch Mech Engn Hefei 230009 Peoples R China Hefei Univ Technol AnHui Key Lab Digital Design & Mfg Hefei 230009 Peoples R China

This paper develops an adaptive robust control scheme combined with optimal design for the unmanned helicopter tail reduction (UHTR) system. The dynamical model of the UHTR system with uncertainties is established. The uncertainties are assumed to be bounded and expressed by fuzzy set theory. With this prerequisite, an adaptive robust controller is proposed to drive the system to meet the trajectory requirements approximately. The adaptive law with leakage and dead zone is performance based and flexibly adjustable. By means of Lyapunov stability theorem, the UHTR system is both uniform bounded and uniform ultimate bounded with the proposed controller. The control scheme is deterministic rather than fuzzy if-then rules-based control. Moreover, the fuzzy performance index which contains the steady-state system performance and control cost is presented. In this way, the optimal design problem can be replaced by minimizing the performance index. Overall, the resulting control scheme can guarantee deterministic performance of the UHTR system and minimize the fuzzy performance index simultaneously.

关键词： Fuzzy set theory Unmanned helicopter tail reduction system adaptive robust control Fuzzy performance index Optimal design

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