A sampled delayed output extended state observer-based adaptive feedback control of robot manipulator with unknown dynamics

Zhuang, Xincheng; Guo, Yida; Tian, Yang; Wang, Haoping

doi:10.1007/s11071-023-09022-4

Cited by 6 publications

(3 citation statements)

References 41 publications

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“…29,35 Remark 2. The NLNS (1) has broad applicability in modeling of various nonlinear systems, such as Exoskeleton robots, 41 automatic ground vehicles, 42 and quadrotor UAVs. 43 The NLNS (1) encompasses the modeling of integral chain systems commonly found in these applications.…”

Section: Problem Formulationmentioning

confidence: 99%

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Predictor‐based continuous‐discrete nonlinear observer design subject to aperiodic sampled and delayed measurement

Zhuang,

Wang,

Tian

2024

Intl J Robust & Nonlinear

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In this paper, a predictor‐based continuous‐discrete nonlinear observer is proposed for a class of nonaffine Lipschitz nonlinear systems with aperiodic sampled delayed output measurements and external disturbance. Firstly, this study introduces a class of delayed sampling hybrid nonlinear systems. By employing Lyapunov techniques and trajectory‐based stability theory, sufficient conditions are established for ensuring input‐to‐state stability of the delayed sampling hybrid nonlinear system with respect to external disturbances. Then the predictor‐based continuous‐discrete nonlinear observer is designed which consists of a continuous‐time observer, a compensating injector and a predictor. The continuous‐time observer is utilized to obtain continuous and delay‐free state estimation. The compensating injector is designed to compensate for output errors that occur between sampling instants. Furthermore, the predictor is employed to obtain delay‐free output error information, which is then utilized by the continuous‐time observer for feedback correction. The proposed observer's exponential input‐to‐state property against the disturbance is proved via the proposed hybrid system stability theory. The effectiveness of the proposed observers has been demonstrated through numerical simulations and performance comparisons with the zero‐order holder‐based observer and the output predictor‐based observer designs in order to highlight the effectiveness and advantages of the proposed observer.

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Section: Problem Formulationmentioning

confidence: 99%

“…This feature greatly facilitates the design of high-gain observers, 23 widely used in nonlinear systems, as well as extended state observers to handle unknown dynamics. 41 Consequently, effective observer algorithms can be constructed, enabling accurate estimation.…”

Section: Problem Formulationmentioning

confidence: 99%

Predictor‐based continuous‐discrete nonlinear observer design subject to aperiodic sampled and delayed measurement

Zhuang,

Wang,

Tian

2024

Intl J Robust & Nonlinear

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“…While observing valve spool positions through coil current, inductance, or simultaneous measurement of multiple electromagnetic parameters is common, research often overlooks uncertainties and external disturbances in EHPS, resulting in unsatisfactory observation accuracy [29]. The extended state observer (ESO) treats uncertainties or disturbances as system states, enabling their estimation to improve observation accuracy [30]. This study employs an extended sliding mode observer (ESMO) to monitor valve spool positions in HSV.…”

Section: Introductionmentioning

confidence: 99%

Backstepping Adaptive Control of Water-Based Position Servo System for High-Speed On/off Valve Based on Extended Sliding Mode Observer

Ma,

Yan,

Jin

et al. 2024

Preprint

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Most mining hydraulic systems use water-based emulsions as the transmission medium. However, the low viscosity of water-based fluids causes leakage, making proportional flow control in water hydraulic systems challenging and preventing precise positioning of hydraulic cylinders. To achieve continuous flow control in water-based fluids, this research proposes a novel backstepping adaptive controller integrated with an extended sliding mode observer (ESMO). By using additional pressure sensors, continuous proportional control of the output flow of a two-stage high-speed on/off valve (TSHSV) can be realized. The ESMO estimates the valve spool position and unmodeled disturbances based on the current in the coil winding, and system output flow is derived from the spool position. An adaptive controller adjusts the spool position to control the entire system’s flow output, achieving proportional flow control. Simulation and experimental results validate the control accuracy of the system. The results show that the system’s performance surpasses that of proportional valves in many respects.

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Ultra-local model-based prescribed performance assist-as-needed control for series elastic actuator-based upper limb patient-exoskeleton system under complex state constraints

Wei,

Wang,

Tian

2024

Nonlinear Dyn

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A sampled delayed output extended state observer-based adaptive feedback control of robot manipulator with unknown dynamics

Cited by 6 publications

References 41 publications

Predictor‐based continuous‐discrete nonlinear observer design subject to aperiodic sampled and delayed measurement

Predictor‐based continuous‐discrete nonlinear observer design subject to aperiodic sampled and delayed measurement

Backstepping Adaptive Control of Water-Based Position Servo System for High-Speed On/off Valve Based on Extended Sliding Mode Observer

Ultra-local model-based prescribed performance assist-as-needed control for series elastic actuator-based upper limb patient-exoskeleton system under complex state constraints

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