Adaptive Predefined-Time Attitude Stabilization Control of Space Continuum Robot

Ding, Meng; Wu, Hailei; Zheng, Xianjie; Guo, Yi

doi:10.1109/tcsii.2022.3204840

Cited by 7 publications

(10 citation statements)

References 20 publications

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“…Remark Compared with the work of Ding et al, 23 the theorem we derive is more general. Compared with the work of Xie et al, 21,26 the theorem we derive guarantees that the ultimate bound is arbitrarily small.…”

Section: System Description and Preliminariesmentioning

confidence: 87%

“…The definition of SGPTUUB and its Lyapunov-like characterization are developed in this paper, which provides a basis for determining and proving whether the state of the system can be driven into an arbitrarily small neighborhood of the origin within a predefined time. Compared with the relevant research in literature, [21][22][23]26 our work is more generalizable and less parameter dependent. 2.…”

Section: Introductionmentioning

confidence: 90%

“…The main contributions of our paper are summarized as: The definition of SGPTUUB and its Lyapunov‐like characterization are developed in this paper, which provides a basis for determining and proving whether the state of the system can be driven into an arbitrarily small neighborhood of the origin within a predefined time. Compared with the relevant research in literature, 21–23,26 our work is more generalizable and less parameter dependent. A nonsingular predefined‐time control scheme, which is designed by the improved DSC technique, is proposed in this paper. Specifically, a novel nonlinear filter is constructed in the DSC technique to overcome the “differential expansion” problem, and a novel predefined‐time anti‐saturation auxiliary system is constructed to tackle the possible input saturation nonlinearities caused by actuator constraints. Two different control laws are designed for a FJSR depending on the way in which the states of the anti‐saturation auxiliary systems are handled.…”

Section: Introductionmentioning

confidence: 98%

“…Furthermore, Yu et al 22 investigated the more generalized form of such Lyapunov‐like characterization of PPTS, and utilized backstepping technique to design an adaptive attitude controller with predefined‐time convergence for a tailless aircraft with actuator and output constraints. Ding et al 23 explored another Lyapunov‐like characterization of PPTS, and suggested a predefined‐time sliding mode controller for a cable‐driven space continuum robot with external disturbance. However, the above research only considers second‐order controlled objects.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Nonsingular predefined‐time dynamic surface control of a flexible‐joint space robot with actuator constraints

Liu,

Gu,

Wang

et al. 2024

Intl J Robust & Nonlinear

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To achieve predefined‐time trajectory tracking control of a flexible‐joint space robot(FJSR) with actuator constraints, a nonsingular predefined‐time dynamic surface control scheme is developed. The input saturation caused by actuator constraints is addressed via the designed predefined‐time anti‐saturation compensator. On this basis, two different control laws are designed for such high‐order nonlinear systems by utilizing the backstepping technique, and a novel nonlinear filter is constructed to filter the virtual control signals, thus avoiding the “differential expansion” phenomenon. Moreover, a singularity‐free auxiliary function is designed to solve the singularity issue generated by the derivative of fractional power terms in the predefined‐time control algorithm framework. The closed‐loop system is proven to be semi‐globally predefined‐timely uniformly ultimately bounded (SGPTUUB) via constructing the suitable Lyapunov function. The difference and effectiveness of the two designed control laws are illustrated by the conducted simulations. Both of them allow the FJSR system to track the desired trajectory in a reasonably predefined time.

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Section: System Description and Preliminariesmentioning

confidence: 87%

Section: Introductionmentioning

confidence: 90%

Section: Introductionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Nonsingular predefined‐time dynamic surface control of a flexible‐joint space robot with actuator constraints

Liu,

Gu,

Wang

et al. 2024

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

show abstract

“…Applying predefined-time stable Lypapunov dynamics is another available control approach for various nonlinear systems [18][19][20]. To overcome the potential singularity problem of the predefined-time control issue for high-order systems, Xie et al [21] and Ding et al [22] designed nonsingular predefined-time controllers for spacecraft and robot systems, ensuring that the attitude tracking errors converge into a small neighborhood of the origin within a predefined settling time. Xu et al [23] and Zhang et al [24] designed nonsingular adaptive predefined-time controllers for interconnected systems and stochastic systems by applying predefined-time stable Lypapunov dynamics with fractional powers.…”

Section: Introductionmentioning

confidence: 99%

Two-Stage Predefined-Time Exact Sliding Mode Control Based on Predefined-Time Exact Disturbance Observer

Liu,

Ma,

Zhang

et al. 2024

Actuators

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This paper is concerned with the predefined-time exact sliding mode control issue of a class of high-order uncertain nonlinear systems with disturbances. The proposed control scheme is composed of a predefined-time exact disturbance observer and a two-stage predefined-time exact sliding mode controller. The disturbance observer can estimate the system disturbances accurately within an arbitrary predefined observation time, and the time can be set as the handover time between two control stages. The classic sliding mode controller guarantees bounded system states in the first control stage. Then, a predefined-time sliding mode controller is designed based on time-varying tuning function, regulating the system states to exact zero within a final predefined settling time in the second stage. It is shown that the control input signal is always chattering-free with respect to time. The effectiveness and superiority of the proposed control scheme is demonstrated with simulation examples.

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Predefined-time stabilization of Lorenz system with applications for stabilizing and synchronizing chaotic finance systems

Wu,

Gu,

et al. 2024

Phys. Scr.

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This article investigates the predefined-time stabilization (PtS) of the canonical Lorenz system at first, and then applies the derived results into the chaotic finance systems (CFSs) so as to realize the stabilization and synchronization, respectively. Compared with the traditional finite-/fixed-time stability analysis, the upper-bound of convergence time (UbCT) in this investigation can be set beforehand in need, which is an explicit constant regardless of initial values, system dimension, and controlling parameters. Moreover, the designed control schemes are non-chattering, which do not contain the conventional discontinuous signum and absolute value functions anymore. Via adopting the second Lyapunov method, the sufficient conditions are obtained successively for guaranteeing the realization of PtS for Lorenz system, CFS, as well as the predefined-time synchronization between two CFSs. The numerical experiments are finally arranged to manifest the correctness and effectiveness of the theoretical fruits, in which some comparison and perturbation analysis are made.

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Adaptive Predefined-Time Attitude Stabilization Control of Space Continuum Robot

Cited by 7 publications

References 20 publications

Nonsingular predefined‐time dynamic surface control of a flexible‐joint space robot with actuator constraints

Nonsingular predefined‐time dynamic surface control of a flexible‐joint space robot with actuator constraints

Two-Stage Predefined-Time Exact Sliding Mode Control Based on Predefined-Time Exact Disturbance Observer

Predefined-time stabilization of Lorenz system with applications for stabilizing and synchronizing chaotic finance systems

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