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Robust adaptive control of cooperative multiple manipulators based on the Stancu-Chlodowsky universal approximator

COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION 2022年 111卷

作者： Izadbakhsh, Alireza Nikdel, Nazila Islamic Azad Univ Dept Elect Engn Garmsar Branch Garmsar Iran Urmia Univ Fac Elect & Comp Engn Orumiyeh Iran

In this paper, the position-force tracking issue of an object moved by cooperative manipulators with model nonlinearities, dynamic uncertainties, and when there are unknown perturbations is investigated. For this purpose, a hybrid adaptive scheme for force-position control using the function approximation technique (FAT) is proposed, which allows the object to follow the desired path. The universal approximation feature of FAT-based approaches makes them ideal candidates for estimating different func-tions. In this research, the Stancu-Chlodowsky polynomials are utilized to approximate disturbances and uncertain dynamic terms. Since the system parameters may not be exactly known, adaptive rules for dealing with uncertainties are proposed. Through Lyapunov theorems, it is shown that using the proposed FAT-based adaptive method, all error signals related to position and force tracking remain limited. This means that the cooperative manipulators are able to move the object efficiently in the desired trajectory while keeping the internal force limited. Finally, the theoretical accomplishments are demonstrated by using the designed structure to control a cooperative robotic system with two manipulators moving an object. The proposed methodology is also compared to those of a strong state-of-the-art approximator, the Chebyshev Neural Network (CNN). The outcomes show that the proposed adaptive FAT-based approach is effective in operating the system even when there are perturbations and uncertainties. (c) 2022 Elsevier B.V. All rights reserved.

关键词： function approximation technique Cooperative arms External disturbances Uncertainties Adaptive control Chebyshev neural network

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Observer-based adaptive fractional-order control of flexible-joint robots using the Fourier series expansion: theory and experiment

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JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING 2020年第10期42卷 1-10页

作者： Kheirkhahan, Payam Izadbakhsh, Alireza Islamic Azad Univ Garmsar Branch Dept Elect Engn Garmsar Iran

In this paper, fractional-order observer/controller design for flexible-joint robots is developed. In order to eliminate the need for obtaining the regressor matrix, the Fourier series expansion is applied for uncertainty estimation. Voltage saturation nonlinearities are compensated in the control law;hence, knowledge of the actuator/manipulator dynamics model is not required in the proposed method. Uniformly ultimately boundedness of observer estimation error and joint position tracking error are guaranteed through Lyapunov stability concept. The case study is a single-link flexible-joint robot actuated by permanent magnet DC motors. Experimental results are presented to emphasize the successful practical implementation of the proposed algorithm. Based on the experimental results, the proposed controller considerably outperforms some previous related works using various criteria.

关键词： Actuator saturation Flexible-joint robots Fractional-order control function approximation technique Observer-based control Real-time implementation

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Observer-based adaptive control for HIV infection therapy using the Baskakov operator

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BIOMEDICAL SIGNAL PROCESSING AND CONTROL 2021年 65卷 102343-102343页

作者： Izadbakhsh, Alireza Kalat, Ali Akbarzadeh Khorashadizadeh, Saeed Islamic Azad Univ Dept Elect Engn Garmsar Branch Garmsar Iran Shahrood Univ Technol Fac Elect & Robot Engn Shahrood Iran Univ Birjand Fac Elect & Comp Engn Birjand 97175615 Iran

This paper presents an adaptive observer-based robust controller design for HIV infection therapy using the Baskakov operators as a Universal approximator. The purpose of the treatment is to reduce, asymptotically, the number of infected CD4+T cells to zero using the assumption of accessibility to the total number of CD4+T cells. The lumped uncertainties including un-modeled dynamics and parameter uncertainties are modeled with the Baskakov operators. All of the aforementioned uncertainties are assumed as a function of time instead a function of several variables. The Baskakov operators' coefficients are then adaptively adjusted. It must be noted that Baskakov operators' have been used for function approximation usually in an offline manner in mathematics. However, the contribution of this paper is using Baskakov operators' in an online manner for an engineering problem. Also, considering the nonlinearities originated from antiretroviral drugs' dosage limitation is another important novelty of this paper which has not been considered in previous related works. Uniformly ultimately boundedness of the observer estimation error and the systems' states are guaranteed through Lyapunov stability concept. The performance is evaluated analytically to confirm that the observer transient response performs satisfactorily. Simulation results and a comparison with observer/controller based on radial basis functions neural network (RBFNN) verify that the proposed Baskakov operator-based observer/controller achieves reasonable performance for reducing the number of infected CD4+ T cells even in the presence of un-modeled dynamics and parametric uncertainties.

关键词： Adaptive uncertainty estimation Baskakov operators function approximation technique HIV infection Observer-based control

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Adaptive fractional-order control of electrical flexible-joint robots: Theory and experiment

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2019年第9期233卷 1136-1145页

作者： Izadbakhsh, Alireza Kheirkhahan, Payam Islamic Azad Univ Garmsar Branch Dept Elect Engn Garmsar *** Iran

Real-time fractional-order control of electrically driven flexible-joint robots has been addressed in this article. An important contribution of this article is that the control law is designed based on the Fourier series that eliminates the need for computation of regressor matrix. Moreover, the nonlinear effects of actuator saturation are considered in the control law. The lumped uncertainty can be approximated using Fourier series with unknown coefficients. Then, the unknown coefficients are estimated using the adaptation law obtained in the stability analysis. The overall closed-loop system is proven to be robust and bounded-input bounded-output stable. In addition, it has been shown that the joint-position errors are uniformly bounded based on Lyapunov's stability concept. The satisfactory performance of the proposed control scheme is verified by experimental results. To highlight the superiority of the proposed method, experimental results of two voltage-based controllers are also presented.

关键词： Actuator saturation function approximation technique flexible-joint robots fractional-order control

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FAT-Based Robust Adaptive Control of Electrically Driven Robots in Interaction with Environment

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ROBOTICA 2019年第5期37卷 779-800页

作者： Izadbakhsh, Alireza Kheirkhahan, Payam Khorashadizadeh, Saeed Islamic Azad Univ Dept Elect Engn Garmsar Branch Garmsar Iran Univ Birjand Fac Elect & Comp Engn Birjand 61597175 Iran

This paper presents a robust adaptive impedance controller for robot manipulators using function approximation techniques (FAT). Recently, FAT-based robust impedance controllers have been presented using Fourier series expansion for uncertainty estimation. In fact, sinusoidal functions can approximate nonlinear functions with arbitrary small approximation error based on the orthogonal functions theorem. The novelty of this paper in comparison with previous related works is that the number of required regressor matrices in this paper has been reduced. This superiority becomes more dominant when the manipulator degrees of freedom (DOFs) are increased. First, the desired signals for motor currents are calculated, and then the desired voltages are obtained. In the proposed approach, only a simple model of the actuator and manipulator dynamics is used in the controller design and all the rest dynamics are treated as external disturbance. The external disturbances can then be approximated by Fourier series expansion. The adaptation laws for Fourier series coefficients are derived from a Lyapunov-based stability analysis. Simulation results on a 2-DOF planar robot manipulator including the actuator dynamics indicate the efficiency of proposed method.

关键词： Impedance control Robot manipulator function approximation technique Robust adaptive control

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Hierarchical Fuzzy Sliding-Mode Adaptive Control for the Trajectory Tracking of Differential-Driven Mobile Robots

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2019年第1期21卷 33-49页

作者： Wu, Hsiu-Ming Karkoub, Mansour Natl Chin Yi Univ Technol Dept Mech Engn Taichung Taiwan Texas A&M Univ Qatar Dept Mech Engn Educ City Qatar

The trajectory tracking of a differential-driven mobile robot (DDMR) with uncertainties and unknown dynamics is investigated using a hierarchical fuzzy sliding-mode adaptive controller (HFSMAC). First, the position error between the actual DDMR and the virtual reference DDMR with respect to the world frame is determined. Based on the aforementioned position error, fuzzy sliding-mode control is used to generate the virtual reference input and attain position tracking. It is well known that the performance and stability of a closed-loop system often deteriorate in the presence of uncertainties. Therefore, a function approximation technique (FAT)-based adaptive controller is used here to learn the unknown dynamics and deals with the external uncertainties via a set of Fourier series to achieve velocity tracking. The proposed HFSMAC has been verified to lead to good robustness levels, effective learning, and accurate trajectory tracking. Computer simulations have been conducted to validate the theoretical developments confirming the efficacy and robustness of the proposed scheme. Finally, a comparative study with a PID controller is presented to further prove the superior performance of the proposed HFSMAC.

关键词： Differential-driven mobile robot Hierarchical fuzzy sliding-mode adaptive control Virtual reference input function approximation technique Lyapunov stability criteria

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Robust Adaptive Control of Over-Constrained Actuated Cable-Driven Parallel Robots

Robust Adaptive Control of Over-Constrained Actuated Cable-D...

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4th International Conference on Cable-Driven Parallel Robots (CableCon) as Part of the 15th IFToMM World Congress

作者： Izadbakhsh, Alireza Asl, Hamed Jabbari Narikiyo, Tatsuo Islamic Azad Univ Dept Elect Engn Garmsar Iran Toyota Technol Inst Control Syst Lab Nagoya Aichi Japan

ISBN: (纸本)9783030207519;9783030207502

This paper proposes a robust adaptive controller for cable-driven parallel robots subject to dynamic uncertainties. The main objective is to study the performance of the proposed controller on these systems designed based on function approximation technique (FAT). Compared to the previous adaptive control strategies, the proposed controller is simpler, and does not require prior knowledge of the uncertainties upper bound, linear parameterization of the kinematic and dynamic models. The reason is that FAT estimators consider the uncertainty as a time-varying function rather than a function of different state variables. To ensure that all the cables are in tension, internal force concept is used in the proposed adaptive control algorithm. Stability of the whole system is analyzed through a Lyapunov-based method, and the uniformly ultimately bounded stability is guaranteed. Simulation studies on a planer cable-driven parallel robot indicate the effectiveness of proposed method.

关键词： Cable-driven parallel robot function approximation technique robust adaptive control

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Connectivity-Preserving Consensus Tracking of Uncertain Nonlinear Strict-Feedback Multiagent Systems: An Error Transformation Approach

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2018年第9期29卷 4542-4548页

作者： Yoo, Sung Jin Chung Ang Univ Sch Elect & Elect Engn Seoul 156756 South Korea

This brief addresses a distributed connectivity-preserving adaptive consensus tracking problem of uncertain nonlinear strict-feedback multiagent systems with limited communication ranges. Compared with existing consensus results for uncertain nonlinear lower triangular multiagent systems, the main contribution of this brief is to present an error-transformation-based design methodology to preserve initial connectivity patterns in the consensus tracking field, namely, both connectivity preservation and consensus tracking problems are considered for uncertain nonlinear lower triangular multiagent systems. A dynamic surface design based on nonlinearly transformed errors and neural network function approximators is established to construct the local controller of each follower. In addition, a technical lemma is derived to analyze the stability of the proposed connectivity-preserving consensus scheme in the Lyapunov sense.

关键词： Adaptive consensus tracking connectivity preservation error transformation function approximation technique networked nonlinear systems

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FAT-Based Robust Adaptive Control of Optical Micro Electro Mechanical System 19

FAT-Based Robust Adaptive Control of Optical Micro Electro M...

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19th IEEE International Conference on Industrial Technologies (ICIT)

作者： Kheirkhahan, Payam Islamic Azad Univ Dept Elect Engn Garmsar Branch Garmsar Iran

ISBN: (纸本)9781509059492

This paper is concerned with the problem of designing a FAT-based robust adaptive control strategy for optical micro electro mechanical system (HEMS). Uncertainties including system parameter variations, external disturbance, and un-modeled dynamics are considered in control design procedure. The uncertainties firstly represented by finite linear combinations of orthonormal basis function with some unknown constant weighting vectors. Appropriate update laws for the weighting vectors are then adjusted using the Lyapunov method so that uniformly ultimately bounded (UUB) stability of the output error can be proved as long as a sufficient number of basis functions are used. The proposed control strategy is simple, and less computational that is suitable for practical implementation. Simulation results demonstrate high performance of the proposed control schemes.

关键词： MEMS function approximation technique Robust adaptive control Fourier series

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A New Adaptive Controller for Robot Manipulators Considering Actuator Dynamics 13

A New Adaptive Controller for Robot Manipulators Considering...

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13th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Huang, An-Chyau Natl Taiwan Univ Sci & Technol Dept Mech Engn Taipei Taiwan

ISBN: (纸本)9781538637586

Traditional controllers for robot manipulators give poor performance in high speed operations due to neglected actuator dynamics. This paper proposes a new adaptive controller for robot manipulators in high speed trajectory following considering of actuator dynamics. The new structure not only estimate dynamics of the links and motors of robot manipulators, but also keep the calculation requirement to a minimum to facilitate its real-time implementation. The design is based on the regressor-free approach supported by the function approximation technique under rigorous mathematic justification. A 2-DOF rigid robot manipulator is used in the computer simulation to verify the efficacy of the proposed design.

关键词： Robot control Adaptive control function approximation technique

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