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adaptive NONLINEAR robust control OF A NOVEL UNCONVENTIONAL UNMANNED AERIAL VEHICLE

control AND INTELLIGENT SYSTEMS 2015年第1期43卷 34-41页

作者： Bagheri, Pedram Ramirez-Serrano, Alejandro Pieper, Jeff K. Univ Calgary Dept Mech & Mfg Engn Calgary AB T2N 1N4 Canada

An adaptive nonlinear robust controller for a novel highly manoeuverable dual-ducted unmanned aerial vehicle (UAV) is considered in this paper. The dynamics of the UAV is highly nonlinear and not originally in the control-affine form. At first, the equations governing the dynamics of the UAV are extracted. Then, a change of variables is proposed to transform the dynamic equations into the control-affine form. It is assumed that the system is subject to unknown disturbances. Therefore, a control law enabling the UAV to accomplish tracking missions, alongside an adaptive law, estimating unknown disturbances has been derived. Unlike previous nonlinear robust methods applied to UAVs of this kind, the asymptotic stability of the controller in the presence of an unknown disturbance is analytically demonstrated. The designed controller enables the UAV to follow the desired translational and rotational trajectories. In addition, it accounts for a range of unknown disturbances. Finally, a computerized simulation is conducted to verify the analytical results.

关键词： adaptive and robust control modeling and simulation nonlinear control

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Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments

Model-based robust and adaptive control of transfemoral pros...

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作者： Azimi, Vahid Georgia Institute of Technology

学位级别：硕士

This thesis presents and experimentally implements five different robust, adaptive, and robust adaptive controllers as the first steps towards using model-based controllers for transfemoral prostheses. The goal of this research is to translate these control methods to the robotic domain, from bipedal robotic walking to prosthesis walking, including a rigorous stability analysis. The human/prosthesis system is first modeled as a two-domain hybrid asymmetric system. The model upon which the controllers are based is a 5-link planar hybrid system (both continuous and discrete behaviors) with point feet, to represent a transfemoral amputee’s body and limbs. An optimization problem is formulated to obtain a stable human-like gait. The proposed controllers are then developed for the combined human/prosthesis model and the optimized reference gait. The stability of all five controllers is proven using the Lyapunov stability theorem and Barbalat’s lemma, ensuring convergence to the desired gait. The proposed controllers are first verified on a bipedal walking robot as a hybrid human/prosthesis model in simulation. Simulations show that the proposed controllers are capable of meeting specific performance requirements regarding trajectory tracking of the prosthetic knee, convergence to a stable periodic orbit, and robustness to force/obstacle disturbances while walking on flat ground. They are then experimentally tested on a treadmill with an able-bodied subject using AMPRO3 (the third iteration of Advanced Mechanical Prosthesis), a custom self-contained powered transfemoral prosthesis. Results show that all controllers provide humanlike walking and accurate tracking performance for a healthy human subject utilizing a transfemoral prosthesis. Finally, outdoor tests are carried out using AMPRO3 with three test subjects walking on level ground, uphill slopes, and downhill slopes at slope angles of 3 and 8 degrees, to demonstrate walking in different real-world environments.

关键词： adaptive and robust control Hybrid system Transfemoral prosthesis Walking biped

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adaptive field-oriented control of current-fed induction motors: a discrete-time implementation

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INTERNATIONAL JOURNAL OF control 2025年第4期98卷 834-844页

作者： Pyrkin, A. Nguyen, Q. C. Sinetova, M. Ortega, R. Bobtsov, A. Hangzhou Dianzi Univ ITMO Joint Inst Xiasha Higher Educ Zone Hangzhou Zhejiang Peoples R China ITMO Univ Fac Control Syst & Robot St Petersburg Russia ITAM Elect Engn Dept Ciudad De Mexico Mexico

Indirect field oriented control (IFOC) is the industry standard for high performance current-fed induction motors. It is well-known that this controller preserves stability in the face of large rotor resistance variations - which are inevitable in practical scenarios - but its performance is significantly degraded. To overcome this drawback many adaptation schemes have been reported, both in drives and control-oriented publications, with the overwhelming majority of these developments done in continuous-time. This, in spite of the fact that the IFOC, as well as their proposed adaptive versions, involve the solution of highly nonlinear differential equations, whose discretization is far from obvious. In this paper we try to reverse this trend and present a discrete-time estimator of the motor parameters and an adaptive IFOC based on it. It is shown that the proposed estimator and adaptive controller are globally convergent under very weak prior knowledge and excitation assumptions. Simulations, that validate the theoretical claims and illustrate the robustness of the schemes, are also presented.

关键词： Nonlinear models with uncertainies nonlinear control adaptive and robust control parameters estimation control applications induction motors

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A Real-Time NMPC Guidance Law and robust control for an Autonomous Surface Vehicle 13th

A Real-Time NMPC Guidance Law and Robust Control for an Auto...

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13th IFAC Conference on control Applications in Marine Systems, Robotics, and Vehicles (CAMS)

作者： Collado-Gonzalez, Ivana Gonzalez-Garcia, Alejandro Sotelo, Carlos Sotelo, David Castaneda, Herman Tecnol Monterrey Sch Sci & Engn Ave Eugenio Garza Sada 2501 Sur Monterrey 64849 NL Mexico Stevens Inst Technol Dept Mech Engn Hoboken NJ 07030 USA

This paper presents a path following control scheme for an autonomous surface vehicle under uncertainties and external disturbances. A guidance scheme based on nonlinear model predictive control takes into consideration the sideslip angle to overcome disturbances and generates the heading reference signal. The high-performance software package acados is used for solving the optimal control problem online. A dynamic controller based on adaptive sliding mode control presents robustness against external disturbances and uncertainties, driving the surge speed and heading dynamics. The control scheme is compared against a line-of-sight-based approach with the same dynamic controller to demonstrate the improvement of the proposed approach, including increased robustness and accuracy. Real-time simulation results show the efficiency, robustness, and feasibility of the proposed approach. Copyright (C) 2021 The Authors.

关键词： Autonomous surface vehicle nonlinear model predictive control adaptive and robust control adaptive sliding mode path following maritime robotics

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Hybrid adaptive disturbance rejection control for inflatable robotic arms

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ISA TRANSACTIONS 2022年 126卷 617-628页

作者： Li, XueAi Sun, Kui Guo, Chuangqiang Liu, Hong Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China

This paper aims to tackle the controller design issue of highly nonlinear and stochastic inflatable robotic arms (IRAs). A novel control scheme, i.e., hybrid adaptive disturbance rejection control (HADRC), is devised to handle the challenging tracking control of hard-to-model IRAs. The model-free adaptive control (MFAC) that linearizes the dynamics by leveraging solely the online input and output (I/O) data of plants is analytically enhanced for superlinear convergence. Both internal and external disturbances are rejected via the active disturbance rejection control (ADRC) that requires little prior model information. The fuzzy logic control (FLC) is subsequently implemented to correlate the two sub-controllers and contribute to attaining smooth motions. The superiority of the proposed scheme is demonstrated by the comparative simulations and experiments on a 2-degree-of-freedom (DOF) IRA. (C) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Inflatable robotic arm Soft robot adaptive and robust control

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Systematic Online Tuning of Multirotor UAVs for Accurate Trajectory Tracking Under Wind Disturbances and In-Flight Dynamics Changes

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IEEE ACCESS 2022年 10卷 6798-6813页

作者： AlKayas, AbdulAziz Y. Chehadeh, Mohamad Ayyad, Abdulla Zweiri, Yahya Khalifa Univ Ctr Autonomous Robot Syst KUCARS Abu Dhabi U Arab Emirates Khalifa Univ Mech Engn Dept Abu Dhabi U Arab Emirates Khalifa Univ Aerosp Engn Dept Abu Dhabi U Arab Emirates

The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required to accurately perform aggressive maneuvers in challenging scenarios like the presence of external wind disturbances or in-flight payload changes. In this paper, we propose a systematic controller tuning approach based on identification results obtained by a recently developed Deep Neural Networks with the Modified Relay Feedback Test (DNN-MRFT) algorithm. We formulate a linear equivalent representation suitable for DNN-MRFT using feedback linearization. This representation enables the analytical investigation of different controller structures and tuning settings, and captures the non-linearity trends of the system. With this approach, the trade-off between performance and robustness in design was made possible which is convenient for the design of controllers of UAVs operating in uncertain environments. We demonstrate that our approach is adaptive and robust through a set of experiments, where accurate trajectory tracking is maintained despite significant changes to the UAV aerodynamic characteristics and the application of wind disturbance. Due to the model-based system design, it was possible to obtain low discrepancy between simulation and experimental results which is beneficial for potential use of the proposed approach for real-time model-based planning and fault detection tasks. We obtained RMSE of 3.59 cm when tracking aggressive trajectories in the presence of strong wind, which is on par with state-of-the-art.

关键词： Trajectory Trajectory tracking Aerodynamics Tuning Autonomous aerial vehicles Real-time systems Feedforward systems Unmanned aerial vehicles system identification adaptive and robust control trajectory tracking PID control machine learning

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Learning for a Robot: Deep Reinforcement Learning, Imitation Learning, Transfer Learning

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SENSORS 2021年第4期21卷 1278-1278页

作者： Hua, Jiang Zeng, Liangcai Li, Gongfa Ju, Zhaojie Wuhan Univ Sci & Technol Key Lab Met Equipment & Control Technol Minist Educ Wuhan 430081 Peoples R China Univ Portsmouth Sch Comp Portsmouth Hants England

Dexterous manipulation of the robot is an important part of realizing intelligence, but manipulators can only perform simple tasks such as sorting and packing in a structured environment. In view of the existing problem, this paper presents a state-of-the-art survey on an intelligent robot with the capability of autonomous deciding and learning. The paper first reviews the main achievements and research of the robot, which were mainly based on the breakthrough of automatic control and hardware in mechanics. With the evolution of artificial intelligence, many pieces of research have made further progresses in adaptive and robust control. The survey reveals that the latest research in deep learning and reinforcement learning has paved the way for highly complex tasks to be performed by robots. Furthermore, deep reinforcement learning, imitation learning, and transfer learning in robot control are discussed in detail. Finally, major achievements based on these methods are summarized and analyzed thoroughly, and future research challenges are proposed.

关键词： dexterous manipulation adaptive and robust control deep reinforcement learning imitation learning transfer learning

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An adaptive finite-time stable control law for manipulator robots with unknown parameters

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INTERNATIONAL JOURNAL OF robust AND NONLINEAR control 2021年第11期31卷 5218-5243页

作者： Boutalbi, Oussama Benmahammed, Khier Boukezata, Boualem Ferhat Abbas Univ Fac Technol Intelligent Syst Lab LSI Setif 1 Setif Algeria Ferhat Abbas Univ Fac Technol Lab Power Qual Elect Networks QUERE Setif 1 Setif Algeria

This article develops an adaptive finite-time stable control algorithm for an accurate manipulation of robot arms considering unknown model parameters and external disturbances. First, a state-dependent twisting control algorithm is developed for the robust manipulation of robot arms under the consideration of bounded unknown uncertainties conditions. The more challenging problem of robust control design under consideration of totally unknown dynamical parameters is investigated in a second stage by supporting the control law with a suitable online parameters estimator. The objective of the parameters estimator is to drive the vector of estimated parameters to some level that ensures the establishment of real second-order sliding mode without overloading the discontinuous controller gains. This approach based on combining both techniques of robust and adaptive algorithms allows overcoming large levels of uncertainties while preserving a high level of tracking accuracy without exciting the unwanted phenomena of chattering. The system finite-time stability is proven by using Lyapunov theory and the weighted homogeneity principle. Practical tests are reported to support theoretical study results.

关键词： adaptive and robust control finite‐ time stability manipulator robots second‐ order sliding mode control twisting control algorithm

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adaptive Integral Terminal Sliding Mode control for an Unmanned Surface Vehicle Against External Disturbances 13th

Adaptive Integral Terminal Sliding Mode Control for an Unman...

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13th IFAC Conference on control Applications in Marine Systems, Robotics, and Vehicles (CAMS)

作者： Gonzalez-Garcia, Alejandro Castaneda, Herman Tecnol Monterrey Sch Sci & Engn Ave Eugenio Garza Sada 2501 Sur Monterrey 64849 NL Mexico

This paper addresses a robust controller for an unmanned surface vehicle subject to external disturbances. An adaptive integral terminal sliding mode technique is designed to control the surge speed and yaw dynamics of the vehicle. Such controller is robust against bounded disturbances, allows finite-time convergence of the tracking error variable, and attenuates the chattering effect common to sliding mode approaches by adapting its control gain. Furthermore, a trajectory tracking guidance law is designed to provide speed and heading references. Simulation results illustrate and compare the advantages and feasibility of the proposed approach in the presence of wind, waves, and currents disturbances. Copyright (C) 2021 The Authors.

关键词： Unmanned surface vehicle adaptive and robust control integral terminal sliding mode control trajectory tracking maritime robotics

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adaptive robust fault-tolerant control for linear MIMO systems with unmatched uncertainties

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INTERNATIONAL JOURNAL OF control 2017年第10期90卷 2253-2269页

作者： Zhang, Kangkang Jiang, Bin Yan, Xing-Gang Mao, Zehui Nanjing Univ Aeronaut & Astronaut Coll Automat Engn Nanjing Jiangsu Peoples R China Nanjing Univ Aeronaut & Astronaut Jiangsu Key Lab Internet Things & Control Technol Nanjing Jiangsu Peoples R China Univ Kent Sch Engn & Digital Arts Canterbury Kent England

In this paper, two novel fault-tolerant control design approaches are proposed for linear MIMO systems with actuator additive faults, multiplicative faults and unmatched uncertainties. For time-varying multiplicative and additive faults, new adaptive laws and additive compensation functions are proposed. A set of conditions is developed such that the unmatched uncertainties are compensated by actuators in control. On the other hand, for unmatched uncertainties with their projection in unmatched space being not zero, based on a (vector) relative degree condition, additive functions are designed to compensate for the uncertainties from output channels in the presence of actuator faults. The developed fault-tolerant control schemes are applied to two aircraft systems to demonstrate the efficiency of the proposed approaches.

关键词： Fault-tolerant control adaptive and robust control loss of effectiveness faults stuck faults unmatched uncertainties

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