Adaptive robust control for dual avoidance–arrival performance for uncertain mechanical systems

et al. 2020

IEEE Access

Self Cite

This paper proposes an indirect approach of constraint-following control for mechanical systems with (possibly fast) time-varying uncertainty. It proposes to design controller for the system to render bounded constraint-following error. First, it prescribes a desired hard bound for the constraint-following error. The system is required to lie within the bound at all time. Second, the constraint-following error can eventually be sufficiently small. To accomplish this, the original system is transformed into a constructed system. Then a robust control for the constructed system is designed, with renders uniform boundedness and uniform ultimate boundedness, regardless of the uncertainty. It is further proven that when the constructed system is uniformly bounded and uniformly ultimately bounded, the constraint-following error of the original system stays within the predetermined bounded. In addition, it will become sufficiently small after a finite time. Therefore the desired bounded performance of the constraint-following error can be archived by the robust control. Since the control is not designed based on the original system, the approach is indirect.

Section: Direct Approach Versus Indirect Approach: Why the Indirementioning

confidence: 99%

Regulating Constraint-Following Bound for Uncertain Mechanical Systems: An Indirect Control Approach

Sun

et al. 2020

IEEE Access

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“…Sun et al 18 have proved that if there is a controller τ such that the constraint-following error β as equation (42) is eventually uniformly bounded, the controlled system will meet the constraints finally.…”

Section: Constrained Tank Stability Control System With Uncertaintymentioning

confidence: 99%

“…Chen et al 10–18 have made some pioneering efforts on servo-constraint control with the methodology of approximate constraint following. In their studies, an equality constraint, which may be holonomic or nonholonomic, is considered to represent desired system performance and desired trajectory.…”

Section: Introductionmentioning

confidence: 99%

“…[3][4][5] The second study takes advantage of the characteristics of problems specific to mechanical systems, with the help from the strategy of control theory. [6][7][8][9] Chen et al [10][11][12][13][14][15][16][17][18] have made some pioneering efforts on servo-constraint control with the methodology of approximate constraint following. In their studies, an equality constraint, which may be holonomic or nonholonomic, is considered to represent desired system performance and desired trajectory.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive robust control for tank stability: A constraint-following approach

Sun

Proceedings of the Institution of Mechanical Engineers, Part I:

et al. 2020

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This article addresses a control problem for tank stability based on constraint following. The objective is to design a control to drive the tank stability control system to follow a pre-specified stability constraint approximately: with the consideration of (possibly) time-varying uncertainty (including system modeling error and road excitation), if the barrel deviates from the target angle, drive it to be arbitrarily close to the target angle; and if the barrel points to the target angle, drive it to stay there. This is formulated as a problem of approximate constraint-following control. First, as the model-based control design object, the dynamic equation of the tank stability control system with the system modeling error and the road excitation is obtained. Second, as the control objective, the stability constraint is formulated. Third, as the control strategy, an adaptive robust control is proposed for approximate constraint following. Fourth, as the control object, a virtual prototype model of tank driving on bumpy road is established with multi-body dynamics software RecurDyn. Finally, real-time servo control and target observation of the tank stability system are performed by co-simulation. It shows that the constraint-following error converges quickly to [Formula: see text] in 1.5 s. By this, the tank stability control system can be always stable even if the tank is driving and disturbed with frequent road excitation.

“…[9][10][11][12][13] Yin et al 14 further extended the constraint-following control approach to consider both equality and inequality constraints. Sun et al 15 considered the avoidance-arrival control problem under constraint following framework. Most of these works are model-based, thus precise model information is needed.…”

Section: Introductionmentioning

confidence: 99%

Adaptive constraint‐following control for uncertain nonlinear mechanical systems with measurement error

Intl J Robust & Nonlinear

Huang

et al. 2021

This study proposes an adaptive constraint-following control scheme for an uncertain nonlinear mechanical system. The concerned system is required to follow a class of (holonomic and nonholonomic) equality constraints. Uncertainties (possibly fast time-varying) exist in the dynamics equation and the equality constraints. Meanwhile, the system contains state measurement errors. Both the uncertainties and measurement errors are assumed to be bounded.Based on Udwadia-Kalapa approach and a saturation type adaptive law, an adaptive control scheme is proposed to drive the system to follow the prescribed constraints approximately. Through Lyapunov minimax analysis, it is proved that the resulting control guarantees the uniform boundedness and uniform ultimate boundedness of the closed-loop constrained mechanical system despite the presence of the uncertainties and the measurement errors. Numerical simulations of the vehicle lateral motion control are presented. The results validate the effectiveness of the proposed methodology.