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adaptive robust force control of an underactuated walking lower limb hydraulic exoskeleton

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2023年第5期45卷 940-954页

作者： Chen, Shan Zhang, Heng Han, Tenghui Dong, Fangfang Liu, Haijun Han, Jiang Hefei Univ Technol Sch Mech Engn 193 Tunxi Rd Hefei 230009 Peoples R China Anhui Engn Lab Intelligent CNC Technol & Equipmen Hefei Peoples R China HMB Res Inst Automat & Intelligent Equipment Hefei Peoples R China

This paper presents an adaptive robust interaction force control algorithm for an underactuated walking lower limb hydraulic exoskeleton. In order to deal with the problem of passive joints (less of control inputs), holonomic constraints from the wearer are considered in system dynamics, which help transform the underactuated exoskeleton dynamics into fully actuated dynamics in Cartesian space. Based on the established dynamic model, adaptive robust interaction force controllers are presented both for the phase of double leg support and single leg support to effectively deal with multiple walking phases, negative effect of high-order nonlinearities of hydraulic systems as well as various model uncertainties and external disturbances. An additional torque allocation method is proposed to deal with the over-actuated characteristic in double leg support phase. Comparative simulations are carried out. The results demonstrate that the proposed force controller can achieve precision and strong robust interaction force control performance to load change and variation of the human trajectory.

关键词： Exoskeleton underactuated system walking phases force control adaptive robust control

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adaptive robust Formation control of Connected and Autonomous Vehicle Swarm System Based on Constraint Following

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IEEE TRANSACTIONS ON CYBERNETICS 2023年第7期53卷 4189-4203页

作者： Sun, Qinqin Wang, Xiuye Yang, Guolai Chen, Ye-Hwa Ma, Fai Nanjing Univ Aeronaut & Astronaut Energy & Power Engn Nanjing 210016 Jiangsu Peoples R China Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Jiangsu Peoples R China Georgia Inst Technol George W Woodruff Sch Mech Engn Atlanta GA 30332 USA Changan Univ Key Lab Rd Construct Technol & Equipment MOE Xian 710064 Shanxi Peoples R China Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

This article proposes an adaptive robust formation control scheme for the connected and autonomous vehicle (CAV) swarm system by utilizing swarm property, diffeomorphism transformation, and constraint following. The control design is processed by starting from a 2-D dynamics model with (possibly fast) time varying but bounded uncertainty. The uncertainty bounds are unknown. For compact formation, the CAV system is treated as an artificial swarm system, for which the ideal swarm performance is taken as a desired constraint. By this, formation control is converted into a problem of constraint following and then a performance measure beta is defined as the control object to evaluate the constraint following error. For collision avoidance, a diffeomorphism transformation on space measure between two vehicles is creatively performed, by which the space measure is positive restricted. For uncertainty handling, an adaptive robust control scheme is proposed to render the beta-measure to be uniformly bounded and uniformly ultimately bounded, that is, drive the controlled (CAV) swarm system to follow the desired constraint approximatively. As a result, the system can achieve the ideal swarm performance;thereout, compact formation is realized, regardless of the uncertainty. The main contribution of this article is exploring a 2-D formation control scheme for (CAV) swarm system under the consideration of collision avoidance and time-varying uncertainty.

关键词： Uncertainty Autonomous vehicles Kinematics Collision avoidance Aerospace electronics Vehicle dynamics Space vehicles adaptive robust control constraint following diffeomorphism transformation formation control swarm system

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Dynamic simulation on vibration control of marching tank gun based on adaptive robust control

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JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE control 2020年第2期39卷 416-434页

作者： Chen, Yu Yang, Guolai Sun, Quanzhao Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Peoples R China

In order to better understand the dynamic behavior and decrease the muzzle vibration of marching tank, a mechanical-electrical-hydraulic integrated dynamic model of marching tank was established based on a novel dynamic co-simulation method. The hydraulic system model was modeled in Amesim and the dynamic model of marching tank was established in RecurDyn based on multi-body system theory, vehicle terramechanics, and gun launch dynamics. The control system model was modeled in MATLAB/Simulink. Therein, the adaptive robust control algorithm was introduced to design the vertical stabilizer controller and the simulation program of the designed controller was developed by C language. The simulation results show that the muzzle vibration of marching tank can be controlled effectively by the ARC method. Furthermore, the muzzle error compensation signal was added in the designed controller to weaken the detrimental effect of the barrel flexibility on muzzle vibration. This work provides an approach to investigate the dynamic behavior of marching tank considering effects among the mechanical, hydraulic, and control subsystems.

关键词： Marching tank vibration adaptive robust control co-simulation error compensation

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Improved adaptive robust control for Low Voltage Ride-Through of Front-End Speed Regulation Wind Turbine

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IEEE ACCESS 2020年 8卷 55438-55446页

作者： Dong, Haiying Chen, Ningning Li, Xiaoqing Li, Hongwei Lanzhou Jiaotong Univ Sch New Energy & Power Engn Lanzhou 730070 Peoples R China Lanzhou Jiaotong Univ Sch Automat & Elect Engn Lanzhou 730070 Peoples R China

This paper proposes a low voltage ride-through (LVRT) control method for the front-end speed regulation (FESR) wind turbine based on an improved adaptive robust control (IARC) to find the solution of the generator parameter variation by grid voltage dip and enhance the LVRT capability of the FESR. First, the FESR system mathematical models and the control objective of LVRT are analyzed. Then, in the improved adaptive robust controller, the Lyapunov function for three sub-systems and the energy function of the system are constructed. The excitation control law and parameter replacement law of the system are obtained by the error compensation term and additional control variable. The method makes the energy function satisfy the dissipation inequalities to guarantee the stability and ability to suppress disturbance of the system. To verify the effectiveness of the proposed control method, the proposed IARC is compared with the predictive fuzzy PID (PFPID) by time-domain simulations under different fault conditions. The results show that the proposed IARC can not only realize the rapid regulation of reactive power and effective resistance to grid voltage fluctuations but also improve robustness and transient stability of the system and enhance the LVRT performance of the FESR during the grid voltage dip.

关键词： Front-end speed regulation (FESR) wind turbine grid voltage dip low voltage ride-through adaptive robust control

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adaptive robust control UNDER MODEL UNCERTAINTY

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SIAM JOURNAL ON control AND OPTIMIZATION 2019年第2期57卷 925-946页

作者： Bielecki, Tomasz R. Chen, Tao Cialenco, Igor Cousin, Areski Jeanblanc, Monique IIT Dept Appl Math Chicago IL 60616 USA Univ Calif Santa Barbara Dept Stat & Appl Probabil Santa Barbara CA 93106 USA Inst Rech Math Avancee Strasbourg France Univ Paris Saclay Univ Evry LaMME UMR CNRS 807 F-91025 Evry France

In this paper we propose a new methodology for solving an uncertain stochastic Markovian control problem in discrete time. We call the proposed methodology the adaptive robust control. We demonstrate that the uncertain control problem under consideration can be solved in terms of the associated adaptive robust Bellman equation. The success of our approach is to a great extent owed to the recursive methodology for construction of relevant confidence regions. We illustrate our methodology by considering an optimal portfolio allocation problem, and we compare the results obtained using the adaptive robust control method with some other existing methods.

关键词： adaptive robust control model uncertainty stochastic control adaptive robust dynamic programming recursive confidence regions Markovian control problem optimal portfolio allocation

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Optimal Design of adaptive robust control for Bounded Constraint-Following Error in Fuzzy Mechanical Systems

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2020年第3期22卷 970-984页

作者： Wang, Xiuye Sun, Qinqin Yang, Guolai Chen, Ye-Hwa Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Jiangsu Peoples R China Changan Univ Key Lab Rd Construct Technol & Equipment MOE Xian 710064 Shanxi Peoples R China Georgia Inst Technol George W Woodruff Sch Mech Engn Atlanta GA 30332 USA

This paper proposes an optimal indirect approach for asymmetric bounds in constraint-following in mechanical systems with (possibly fast) time-varying fuzzy uncertainty. The uncertainty is described with fuzzy set theory. We aim at optimal controller to drive the constraint-following error of the concerned fuzzy system to lie within a desired (possibly asymmetric) bound all the time and get to be sufficiently small eventually. For deterministic performance, we transform the fuzzy original system into a constructed fuzzy system, for which a deterministic (not the usual if-then rules-based) adaptive robust control is designed for uniform boundedness and uniform ultimate boundedness. For optimal performance, a performance index is proposed based on the fuzzy information, by minimizing which an optimal control gain design problem is formulated and solved. When the constructed fuzzy system is uniform boundedness and uniform ultimate boundedness, the constraint-following error of the original fuzzy system is proved to be bounded. As a result, the control design can render out deterministic performance and minimum performance index.

关键词： Fuzzy mechanical systems Bounded constraint-following Fuzzy set theory adaptive robust control Optimal design

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Fractional order adaptive robust formation control of multiple quad-rotor UAVs with parametric uncertainties and wind disturbances

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Chinese Journal of Aeronautics 2022年第8期35卷 204-220页

作者： Nasim ULLAH Yasir MEHMOOD Jawad ASLAM Shaoping WANG Khamphe PHOUNGTHONG Environmental Assessment and Technology for Hazardous Waste Management Research Center Faculty of Environmental ManagementPrince of Songkla UniversitySongkhla 90112Thailand Department of Electrical Engineering College of Engineering Taif UniversityAl-HawiyahTaif P.O Box:888Kingdom of Saudi Arabia School of Mechanical and Manufacturing Engineering NUSTIslamabad 44000 Pakistan School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China Faculty of Environmental Management Prince of Songkla UniversitySongkla90112Thailand

In recent times,multiple Unmanned Aerial Vehicles(UAVs)are being widely utilized in several areas of applications such as agriculture,surveillance,disaster management,search and rescue *** of robustness of applied control schemes determines how accurate a swarm of UAVs accomplish group *** and trajectory tracking controllers are required for the swarm of multiple *** like external environmental effects,parametric uncertainties and wind gusts make the controller design process as a challenging *** article proposes fractional order formation and trajectory tacking controllers for multiple quad-rotors using Super Twisting Sliding Mode control(STSMC)*** compensate the effects of the disturbances due to parametric uncertainties and wind gusts,Lyapunov function based adaptive controllers are ***,Lyapunov theorem is used to guarantee the stability of the proposed *** types of controllers,namely fixed gain STSMC and fractional order adaptive Super Twisting Sliding Mode control(ASTSMC)methods are tested for the swarm of UAVs by performing the numerical simulations in MATLAB/Simulink *** the presented results,it is verified that in presence of wind disturbances and parametric uncertainties,the proposed fractional order ASTSMC technique showed improved robustness as compared to the fixed gain STSMC and integer order ASTSMC.

关键词： adaptive robust control Fractional order control Nonlinear control Quad-rotor UAVs Swarm formation control

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Desired compensation adaptive robust repetitive control of a multi-DoFs industrial robot

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ISA TRANSACTIONS 2022年第PartA期128卷 556-564页

作者： Hu, Jinfei Lai, Han Chen, Zheng Ma, Xin Yao, Bin Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Peoples R China Zhejiang Univ Ocean Coll Hangzhou 316021 Peoples R China Purdue Univ Sch Engn Technol W Lafayette IN 47907 USA Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA Zhejiang Univ Ocean Res Ctr Zhoushan Zhoushan 316021 Peoples R China Zhejiang Univ Ocean Coll Zheda Rd Zhoushan Peoples R China

In the presence of system coupling and dynamic uncertainties, extensive research has been conducted on the precise motion control of industrial manipulators with general reference trajectories. Since repetitive operations are common tasks in industrial applications, it is an essential and practical problem to further improve the control accuracy by taking advantage of the periodicity of the reference trajectory. In this paper, a desired compensation adaptive robust repetitive control is proposed for multi-DoFs industrial manipulators to perform repetitive tasks. Specifically, the link dynamics identified offline is compensated directly to decouple the system and capture the main characteristics of the link effect. Then, the uncertain friction is dealt with through an online adaptation scheme, in which the desired compensation is utilized to avoid measurement noise and chattering at low speed. And periodic disturbances are approximated by Fourier series expansion with unknown Fourier coefficients, which will be learned online. Finally, the robust feedback is designed to guarantee transient control accuracy and robustness against dynamic uncertainties. Comparative experiments on an industrial manipulator show that the proposed controller possesses better transient and steady-state control accuracy and error convergence rate.(c) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Repetitive control adaptive robust control Iterative learning control Robot control

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adaptive-adaptive robust boundary control for uncertain mechanical systems with inequality constraints

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NONLINEAR DYNAMICS 2022年第1期110卷 449-466页

作者： Wang, Zongfan Yang, Guolai Wang, Xiuye Sun, Qinqin Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Jiangsu Peoples R China Nanjing Univ Aeronaut & Astronaut Sch Energy & Power Engn Nanjing 210016 Jiangsu Peoples R China

In this paper, adaptive-adaptive robust boundary control is proposed for uncertain mechanical systems with inequality constraints. First, inequality constraints are taken into consideration, which are derived from the system or environment constraints on state bounds and control input bounds. Moreover, the original system with inequality constraints is transformed into a novel system with merely equality constraints by constraint reorganization techniques. Second, an adaptive robust control with a two-layer adaptive law is initiated. Here, the lower-layer adaptive law is used to overcome the (possibly rapidly time-varying) system uncertainty, which is bounded but unknown. Additionally, the adaptive law design parameters are chosen online by the upper-layer adaptive law, rather than according to the empirically set fixed values. Finally, the performance of the controller with uniform boundedness and uniform ultimate boundedness is theoretically and experimentally verified. The control strategy allows the electric cylinder-driven pitch system to achieve highly accurate and error-controllable motion within the motor drive capability.

关键词： Uncertain mechanical systems adaptive robust control Inequality constraints Bounded control

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adaptive robust nonlinear control of spacecraft formation flying: a novel disturbance observer-based control approach

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INTERNATIONAL JOURNAL OF DYNAMICS AND control 2022年第5期10卷 1471-1484页

作者： Homayounzade, Mohamadreza Fasa Univ Fac Engn Mech Engn Dept Fasa Iran

This paper proposes a novel nonlinear disturbance observer (NDO)-based control approach for spacecraft formation flying (SFF) subject to non-vanishing disturbances. The external disturbance from the space environment and modeled/unmodeled uncertainties are aggregated as a lumped unknown external disturbance. A novel NDO is designed to provide an estimation of unknown external disturbance. The adaptive robust control approach is combined with the NDO-based control approach to get a composite adaptive controller. In the resulting controller, the disturbance estimation is utilized as feed-forward to attenuate the disturbance effects. The asymptotic stability of the proposed composite adaptive controller is proved using the Lyapunov theorem. In previous NDO-based controllers designed for nonlinear systems, either the time derivative of external disturbance is assumed to be equal to zero, or the knowledge of external disturbance upper-bound is required to be known. However, the proposed controller neither makes presumption on the magnitude of the disturbance nor its time derivatives. Furthermore, compared with some existing NDO-based controllers, the conditions of previous methods on the magnitudes of controller parameters are relaxed. Simulation results, along with comparisons, are included to verify the effectiveness of the proposed control scheme. Compared to the previous NDO-based control methods, the proposed method provides better tracking performance in the presence of external disturbances, besides relaxing the restrictions of previous NDO control methods.

关键词： adaptive robust control Asymptotic tracking control Composite adaptive control Nonlinear disturbance observer Spacecraft formation flying

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