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A composite adaptive robust control for pneumatic servo systems with time-varying inertia

control ENGINEERING PRACTICE 2023年第1期137卷

作者： Chen, Ye Tao, Guoliang Yao, Yitao Zhejiang Univ Dept Mechatron Engn State Key Lab Fluid Power & Mechatron Syst Hangzhou Peoples R China

This article proposes a composite adaptive robust control for a pneumatic servo system with time-varying inertia to achieve a good tracking performance. The proposed design not only preserves the merits of both direct adaptive robust control and indirect adaptive robust control but also obtains a better performance of the working condition with time-varying inertias. Firstly, prescribed tracking performance is guaranteed without knowing the bounds of parametric and non-parametric uncertainties by leveraging a discontinuous projection and deterministic robust control technique. And a nonlinear tracking differentiator is used to obviate differential signal in backstepping. Secondly, the online parametric estimation algorithm is developed by intelligently integrating tracking error dynamics and physical plant dynamics. By effectively using the information of both tracking error and prediction error, a high adaptation gain can be used for achieving a faster parameter convergence and smaller tracking error. Moreover, exponential convergence of both tracking error and prediction error can be obtained under certain conditions. Lastly, comparative experiments on different conditions are carried out for a single-rod pneumatic cylinder driven by a proportional directional valve to demonstrate the superiority of the proposed method.

关键词： Pneumatic servo systems adaptive robust control Composite adaptive control

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Differential flatness-based adaptive robust tracking control for wheeled mobile robots with slippage disturbances

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ISA TRANSACTIONS 2024年 144卷 482-489页

作者： Yuan, Wang Liu, Yueyue Liu, Yong-Hua Su, Chun-Yi Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China Guangdong Prov Key Lab Intelligent Decis & Coopera Guangzhou 510006 Peoples R China Jiangnan Univ Sch Internet Things Engn Wuxi 214122 Peoples R China

Wheeled mobile robots (WMRs) have a wide range of applications in logistics transportation and industrial productions, among which the motion control has always been one of the hot spots in the current WMR researches. However, most of previous designed controllers assumed that the WMR motion had no slippage. Ignoring the slippage factors usually results in a decrease in control performance and even leads to unstable motion. To address such a challenge, a kinematic model with differential flatness is established through dynamic feedback-linearization, which comprehensively considers the multidirectional slippage of mobile robot, including longitudinal and steering slippage. Subsequently, benefited from the one-to-one mapping of states and inputs to flat outputs in differential flat system, an adaptive robust control (ARC) method is proposed to stabilize the system. Different from previous robust control studies, even if the knowledge of the upper bound of system uncertainties is unknown in advance, the proposed adaptive robust controller can still achieve satisfying performance by adaptive estimation of the upper bound of system uncertainties. The effectiveness and feasibility of the proposed method are confirmed by comparative experiments on WMR with slippage disturbance.

关键词： adaptive robust control Slippage disturbances Differential flatness Wheeled mobile robots

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IMMERSION AND INVARIANCE adaptive robust control FOR A CLASS OF NONLINEAR SYSTEMS WITH UNCERTAINTIES AND DISTURBANCES

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INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND control 2023年第5期19卷 1561-1571页

作者： Tang, Jinjie Song, Xiaoming Henan Univ Technol Sch Artificial Intelligence & Big Data 100 Lianhua StHigh-Tech Dev Zone Zhengzhou 450001 Peoples R China Chengde Petr Coll Dept Mech Engn 2 Xueyuan Rd Chengde 067000 Peoples R China

This paper presents an immersion and invariance adaptive robust control framework for a class of nonlinear systems with uncertainties and external disturbances. Sliding mode control law with continuous reaching law is used to avoid chattering. A novel immersion and invariance (I&I) adaptive law is developed to estimate the time varying lumped uncertainty. In the proposed adaptive approach, there is an additional term that can shape the dynamics of the estimation errors. By ingeniously designing this additional item, the two proposed adaptive robust control approaches enable the tracking error to converge to zero in finite time. The salient feature of the proposed control is to suppress time-varying uncertainty in the controlled system without using a large learning rate in the adaptive laws. Simulation results of robot manipulator show the effectiveness of the proposed method.

关键词： adaptive robust control Sliding mode Nonlinear system Finite time con-vergence Immersion and invariance Robot manipulator

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adaptive robust control of the Cable Driven System for Position Tracking 15

Adaptive Robust Control of the Cable Driven System for Posit...

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15th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Li, Bin Yan, Liang Zhang, Liqin Gerada, Christopher Beihang Univ Sch Automat Sci & Elect Engn Beijing Peoples R China Univ Nottingham Dept Elect & Elect Engn Nottingham England

ISBN: (纸本)9781728151694

In this paper, an actuation redundancy system is presented based on wire rope driven, which can achieve high-precision and fast response by the use of flexible cables instead of rigid links. However, due to the unilateral force of the cable and parameters uncertainty in the system, control of this flexible system is more challenging. To deal with such situation, an adaptive robust control method based on cable pre-tension is proposed, in which the pre-tension is employed to prevent cable slack, and the adaptive rate is designed to estimate the unknown parameters. Thanks to the model compensation and robust terms in the control law, the system is stable in closed loop and ensures that the errors of tracking and estimation converge to zero in theoretically. Result of simulation shows that the robust adaptive controller performs better than the PD and feedforward controller. The characteristics of dynamic and accuracy are both improved.

关键词： cable driven system adaptive robust control position tracking tension distribution

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Hybrid Reference Governor-Based adaptive robust control of a Linear Motor Driven System

Hybrid Reference Governor-Based Adaptive Robust Control of a...

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IEEE International Conference on Mechatronics (ICM)

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

ISBN: (纸本)9781728144429

The linear motor driven system has been widely used in the manufacturing industry, where high motion tracking accuracy is required, including fast dynamic response and high steady-state tracking accuracy. However, the improvement of the motion control performances is limited by parametric uncertainties and uncertain nonlinearities, such as nonlinear friction, varying load mass, etc. In addition, the system constraints owing to input saturation and speed/space limitations also challenge the improvement of the motion control performances. In this paper, a hybrid reference governor-based adaptive robust control (HRGARC) algorithm is proposed for the constrained motion control of the linear motor driven system. The proposed approach is composed of two reference governor (RG)-based adaptive robust controllers (RGARC) and a switching strategy. For each RGARC, the RG is utilized to deal with input/state constraints, and the adaptive robust control (ARC) algorithm is used to cope with parametric uncertainties and uncertain nonlinearities. These two RGARCs are specifically designed to achieve fast dynamic response and high steady-state tracking accuracy, respectively. Furthermore, a switching strategy is designed to coordinate these two RGARCs according to the system states and the input reference. Therefore, the high transient and steady-state motion control performances of the linear motor driven system can be achieved by the proposed HRGARC in the presence of parametric uncertainties, uncertain nonlinearities, and input/state constraints. Comparative experiments conducted on the linear motor driven system validate the effectiveness of the proposed HRGARC algorithm.

关键词： adaptive robust control reference governor constrained control motion control linear motor

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Disturbance Rejection Performance of adaptive robust control

Disturbance Rejection Performance of Adaptive Robust Control

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IEEE International Conference on Mechatronics (ICM)

作者： Yuan, Mingxing Lyu, Litong Liu, Xin Nankai Univ Coll Artificial Intelligence Tianjin Peoples R China Shijiazhuang Tiedao Univ Sch Mech Engn Shijiazhuang Hebei Peoples R China Hohai Univ Coll Energy & Elect Engn Nanjing Peoples R China

ISBN: (纸本)9781728144429

Achieving high control performance in the presence of unavoidable disturbances/uncertainties has always been a major objective in modern control design. These disturbances/uncertainties may cause the controlled system, designed on the nominal model, to be unstable or have a much degraded performance. To deal with the disturbances/uncertainties, disturbance-observer-base-controls construct observers to estimate the disturbance and then compensate their influences. Among them, active disturbance rejection control (ADRC) takes all disturbances and uncertainties as total disturbances and then constructs an extended state observer to estimate the these disturbances. The simplicity and independence on precise model make ADRC one of the popular control algorithms in recent years. From another prospect, the mathematically rigorous adaptive robust control (ARC) is proposed, where the model uncertainties are classified into parametric uncertainties and uncertain nonlinearities and handled by integrating the working mechanisms of two of the main control research areas - robust adaptive control and nonlinear robust controls. The ARC theory has also been applied to the design of various intelligent and precision industrial mechatronic systems. In this paper, the disturbance rejection performance of ARC is studied with the comparison with ADRC. First-order nonlinear system with disturbance/uncertainties is studied as an example and simulations are conducted to support the comparative results.

关键词： nonlinear control disturbance rejection adaptive robust control

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adaptive robust control of a multi-degree-of-freedom mechanical plant with resilient properties

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Procedia Computer Science 2021年 186卷 611-619页

作者： Le Hong Quang V.V. Putov V.N. Sheludko Saint-Petersburg Electrotechnical University st. Professora Popova 5 Saint Petersburg 197378 Russia

This paper considers the task of designing adaptive robust control of an indefinite multi-degree-of-freedom (DOF) nonlinear mechanical plant with resilient properties with simultaneous adaptive compensation of immeasurable external disturbing influences. An unknown disturbance is assumed to be deterministic and is presented as the output of a linear autonomous model with unknown constant parameters. To solve the problem of adaptive compensation of disturbances, it is proposed to use an adaptive observer of external disturbances. adaptive robust control of the very uncertain mechanical plant with resilient properties is synthesized based on the adaptive integrator bypass method and tuning algorithms with parametric projection, and is also combined with the estimation of the disturbance adaptive observer.

关键词： adaptive robust control adaptivedisturbanceobserver indefinite multi-degree-of-freedom nonlinear mechanical plant with resilient properties cascade structure adaptive bypass method of the integrator tuning algorithms with parametric projection

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Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

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NONLINEAR DYNAMICS 2023年第12期111卷 11261-11274页

作者： Zhang, Zheshuo Zhang, Bangji Yin, Hui Zhejiang Univ City Coll Intelligent Transportat Syst Res Ctr 48 Huzhou St Hangzhou 310015 Zhejiang Peoples R China Hunan Univ Coll Mech & Vehicle Engn 2 Lushan South St Changsha 410082 Hunan Peoples R China Southwest Jiaotong Univ State Key Lab Tract Power 111 Huancheng Rd Chengdu 610031 Sichuan Peoples R China

Articulating crane (AC), a widely used crane, plays an essential role in various industrial activities. Owing to its strong nonlinearity and uncertainty, its tracking control remains challenging, particularly for precise dynamic tracking control. This paper proposes an adaptive diffeomorphism-constraint-based control (ADCBC) for a nonlinear AC to robustly achieve trajectory tracking while guaranteeing desired dynamic control performance (DDCP), considering (possibly rapid and irregular) time-variant uncertainty with unknown bounds. A user-definable hard-limiting function was used to guarantee the DDCP, including the requirement for steady-state tracking error and dynamic convergence speed. The desired trajectories and DDCP were formulated as equality and inequality servo constraints, respectively. A diffeomorphism approach was adopted to incorporate inequality servo constraints into equality servo constraints, yielding new equality servo constraints. Thus, the control task was converted to enable the transformed AC to follow the new equality servo constraints and was completed by a constraint-based control (CBC) scheme, where an adaptive law was established for the estimation of online uncertainty bounds to compensate for uncertainty. No approximations or linearizations were invoked. The effectiveness and robustness of the proposed ADCBC were confirmed through rigorous proofs and simulation results. To the best of our knowledge, this is the first endeavor in tracking control while guaranteeing the DDCP for uncertain AC-like systems.

关键词： Articulating crane adaptive robust control Prescribed performance control Constraint-following Tracking control

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Observer-based Finite-time adaptive robust Tracking control for Nonlinear Stochastic Time-delay Systems With Full State Constraints and Input Saturation

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2023年第8期21卷 2554-2565页

作者： Yang, Yuping Wang, Yuchao Chen, Xin Sui, Xiuli Xu, Lijia Sichuan Agr Univ Coll Mech & Elect Engn Yaan 625014 Sichuan Peoples R China Tianjin Sino German Univ Appl Sci Coll Software & Commun Tianjin 300350 Peoples R China

This paper considers the problem of observer-based adaptive finite-time control for a class of uncertain nonlinear stochastic systems with input saturation, time-varying delay and full state constraints. An adaptive design approach is adopted to deal with saturated input non-linearities which are not required to know any information. Based on the growth restrictions are removed, Lyapunov-Krasovskii functional is imposed to eliminate the influence of time-varying delay. Owing to the unmeasurable and constrained states, the state observer and barrier Lyapunov function are adopted via the controller construction process. Under a criterion of semi-globally finite-time stability in probability (SGFSP), the constructed adaptive finite-time controller can guarantee that all the states in the system are not violated. Finally, the effectiveness of the control scheme is verified by the ultimate simulation results of a chemical reactor system.

关键词： adaptive robust control full state constraints input saturation state observer stochastic system

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RBF-Neural-Network-Based adaptive robust control for Nonlinear Bilateral Teleoperation Manipulators With Uncertainty and Time Delay

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2020年第2期25卷 906-918页

作者： Chen, Zheng Huang, Fanghao Sun, Weichao Gu, Jason Yao, Bin Zhejiang Univ Ocean Coll Zhoushan 316021 Peoples R China Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Peoples R China Harbin Inst Technol Res Inst Intelligent Control & Syst Harbin 150001 Peoples R China Dalhousie Univ Dept Elect & Comp Engn Halifax NS B3H 4R2 Canada Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA

The bilateral teleoperation system has raised expansive concern as its excellent behaviors in executing the tasks in the remote, unstructured, and dangerous areas via the cooperative operation systems. In this article, an radial basis function (RBF) neural network based adaptive robust control design is proposed for nonlinear bilateral teleoperation manipulators to cope with the main issues including the communication time delay, various nonlinearities, and uncertainties. Specifically, the slave environmental dynamics is modeled by a general RBF neural network, and its parameters are estimated and then transmitted for the environmental torque reconstruction in the master side. Since the parameters of the neural network (which are nonpower signals) are transmitted instead of the traditional environmental torque in the communication channel, the previous existing passivity problem under time delay is avoided. In both of master and slave sides, the trajectory creators are applied to generate the desired trajectories, and the RBF-neural-network-based adaptive robust controllers are designed subsequently to handle the nonlinearities and uncertainties. Theoretically, the proposed control algorithm can guarantee the global stability of bilateral teleoperation manipulators under time delay, and the good transparency performance with both position tracking and force feedback is also achieved simultaneously. The real platform comparative experiments are carried out, and the results show the good position tracking to execute precise operation and the good force feedback to detect the sudden disturbance in the environment dynamics.

关键词： adaptive robust control bilateral teleoperation good transparency neural network time delays uncertainties

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