An improved adaptive online neural control for robot manipulator systems using integral Barrier Lyapunov functions

Xia, Jun; Zhang, Yujia; Yang, Chenguang; Wang, Min

doi:10.1080/00207721.2019.1567863

Cited by 29 publications

(14 citation statements)

References 42 publications

(37 reference statements)

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“…Based on Reference 37, we know that

{V}_{0i}

satisfied positive definite, continuously differentiable, and radially unbounded properties in the set

\Omega =\left\{{e}_i:|{e}_i|<{k}_i,{k}_i>0,i=1,2,\dots, n\right\}

. Therefore,

{V}_{0i}

is a valid Lyapunov function.…”

Section: Observer‐controller Designmentioning

confidence: 99%

Integral barrier Lyapunov functions based sliding mode observer‐controller for nonlinear systems with performance constraints

Qu,

Xie,

Chen

et al. 2023

Intl J Robust & Nonlinear

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This article presents an observer‐controller structure for nonlinear systems with external disturbances, uncertainties and performance constraints. Firstly, considering the unmeasurable state issue, a sliding mode observer is designed to estimate the unknown state. Then an integral barrier Lyapunov function (iBLF) is established to ensure that the observer estimation errors are held within the performance constraints. With the objective of utilizing iBLF, an equivalent output injection technique is adopted. Combining with backstepping technique, an observer‐controller scheme is given. The controller can hold all signals in the closed‐loop system bounded with the help of iBLF, and the tracking error will converge to a bounded tight set without violating the corresponding constraints. The effectiveness of the proposed strategy is clarified via a vessel heading control example.

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“…Based on Reference 37, we know that

{V}_{0i}

satisfied positive definite, continuously differentiable, and radially unbounded properties in the set

\Omega =\left\{{e}_i:|{e}_i|<{k}_i,{k}_i>0,i=1,2,\dots, n\right\}

. Therefore,

{V}_{0i}

is a valid Lyapunov function.…”

Section: Observer‐controller Designmentioning

confidence: 99%

Integral barrier Lyapunov functions based sliding mode observer‐controller for nonlinear systems with performance constraints

Qu,

Xie,

Chen

et al. 2023

Intl J Robust & Nonlinear

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show abstract

“…And the BLF is also widely used to deal with state constraints 17 and output constraints 18 . A symmetric integral BLF‐based controller is proposed for manipulators, 19 in which the full‐state constraint on the manipulators is achieved by setting preset boundaries on position and velocity by BLF, respectively. In work, 20 an ln‐type BLF‐based adaptive constraint control law is proposed for the flexible manipulator, in which the BLF sets boundaries on the angular position, angular velocity, boundary position, and boundary velocity to achieve full‐state constraints on the flexible manipulators.…”

Section: Introductionmentioning

confidence: 99%

Asymmetric time‐varying BLF‐based model‐free hybrid force/position control for SEA‐based 2‐DOF manipulator

Wei

Wang

Tian

2023

Adaptive Control & Signal

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Summary In this work, an asymmetric time‐varying barrier Lyapunov function‐based model‐free hybrid force/position controller (ABLF‐MFC) is proposed for the series elastic actuator‐based 2‐DOF manipulator. Inspired by large surface machining, many scenarios require hybrid force/position control, and the simple position control can no longer meet the above requirements. Therefore, ABLF‐MFC with a dual‐loop structure is established, which are force sub‐control loop and position sub‐control loop. Based on the idea of admittance control, the force sub‐control loop generates a reference trajectory according to the desired interaction force and trajectory. Then, for the position sub‐control loop, to simplify the controller design process, an ultra‐local model (ULM) is introduced, which can approximate the original system. Since the ULM has an unknown term, time‐delay estimation (TDE) is applied to estimate it, which can also reduce the dependence on accurate model parameters. The position sub‐control loop is designed by an asymmetric time‐varying barrier Lyapunov function, an integral‐type Lyapunov function and an adaptive compensation term, so the tracking error can be kept within the preset boundary while ensuring the convergence, and the TDE estimation error can be compensated. Rigorous mathematical proofs and simulation results verify the effectiveness of ABLF‐MFC.

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“…Some other studies showed the application of BLFs for full-state constraint systems in either regular (Brunovskii) or non-regular forms. [24][25][26] Nevertheless, the mentioned approaches offer asymptotic convergence of the system states, and in several cases, they are not robust against external perturbations. In spite their clear advantages, both control forms (TSM and NTSM) are not considering the given coordinate constraints which design a restricted working space within their mathematical form.…”

Section: Introductionmentioning

confidence: 99%

Adaptive terminal sliding mode control of a regulated multidimensional electrospinning device for polymeric structures

Reyes-Garcia

Llorente-Vidrio

Santillán

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This study intends to present an automatic control design for a Cartesian electrospinning system with a dual moving platforms for the collector and the syringe subsystems which are mobilized using linear actuators. The proposed device is including a set of dual robotized structures, that is also carrying a structure to create the Taylor cone that regulates the nano-fiber deposition over the supporting platform. The suggested control form considers the synchronization between the syringe tip and the collector using a cascade tracking structure. A class of distributed state-dependent terminal sliding mode control form solves the tracking problem that yields the syringe-collector pair moves in a synchronized form tracking a bidimensional design that should be reproduced with the fibers deposition made of polyvinyl acid–based polymer. This controller also considers the working space restrictions in the Cartesian electrospinning system device using state-dependent gains which are obtained using a control barrier Lyapunov function. The application of the second stability method of Lyapunov serves to both design the state-dependent gains and prove that the tracking error trajectory is ultimate bound. The proposed controller is evaluated using a cyber-physical representation of the Cartesian electrospinning system device where the proposed controller is evaluated. This evaluation considers a comparison of the control effectiveness (using the root mean square value of the tracking error) with a traditional non-adaptive state feedback and a first-order sliding mode control. This comparison shows that the proposed adaptive controller induces the smallest root mean square among the tested control forms while reducing the magnitude of the overshoot for each actuator.

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An improved adaptive online neural control for robot manipulator systems using integral Barrier Lyapunov functions

Cited by 29 publications

References 42 publications

Integral barrier Lyapunov functions based sliding mode observer‐controller for nonlinear systems with performance constraints

Integral barrier Lyapunov functions based sliding mode observer‐controller for nonlinear systems with performance constraints

Asymmetric time‐varying BLF‐based model‐free hybrid force/position control for SEA‐based 2‐DOF manipulator

Adaptive terminal sliding mode control of a regulated multidimensional electrospinning device for polymeric structures

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