Finite-Time Adaptive Fuzzy Tracking Control Design for Parallel Manipulators with Unbounded Uncertainties

Nguyen, Van‐Truong; Lin, Chia Ching; Su, Shun‐Feng; Sun, Wei

doi:10.1007/s40815-018-0569-1

Cited by 16 publications

(5 citation statements)

References 37 publications

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“…Among them, robust control techniques are used to cancel complex uncertainties and external disturbances as well as provide higher robustness. Based on computational intelligence like neural networks, fuzzy systems, robust tracking control strategies have been proposed in [6][7][8][9][10][11][12]. However, the learning techniques always need a huge computation because of the training complication in fuzzy rules or neural weights.…”

Section: Introductionmentioning

confidence: 99%

Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

Nguyen¹

2023

Computers, Materials &Amp; Continua

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In this paper, a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external disturbances. The proposed approach is a hybrid scheme of the online non-negative adaptive mechanism, tracking differentiator, and nonsingular fast terminal sliding mode control (NFTSMC). Based on the online non-negative adaptive mechanism, the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC controllers. The proposed controller has several advantages such as simple structure, easy implementation, rapid response, chattering-free, high precision, robustness, singularity avoidance, and finite-time convergence. Since all control parameters are online updated via tracking differentiator and non-negative adaptive law, the tracking control performance at high-speed motions can be better in real-time requirement and disturbance rejection ability. Finally, simulation results validate the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

Nguyen¹

2023

Computers, Materials &Amp; Continua

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“…In reality, the physical parameters of the robot manipulator are not always exactly known, which will greatly affect the control effect. Hence, many studies have been reported to solve this problem, such as neural network (NN) control [1,2] and fuzzy logic system (FLS) control [3,4]. Ling et al [3] used FLS to approximate the dynamic uncertainties and updated FLS by updating the trace of the weight matrix transpose multiplied by the weight matrix.…”

Section: Introductionmentioning

confidence: 99%

UDE-based task space tracking control of uncertain robot manipulator with input saturation and output constraint

Wan

et al. 2022

Robotica

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This paper investigates the trajectory tracking problem of uncertain robot manipulators with input saturation and output constraints. Uncertainty and disturbance estimator (UDE) is used to tackle the model uncertainties and external disturbances. Different from most existing methods, UDE only needs the bandwidth of the unknown plant model for design, which makes it easy to be implemented. Nonlinear state-dependent function is employed to cope with output constraints and a second order auxiliary system is constructed to solve the input saturation. Finally, an UDE-based tracking controller is proposed based on the backstepping method. With the proposed control scheme, the input saturation and the output constraints are not violated, and all signals in the closed-loop system are bounded. The comparative simulation results of a two-link robot manipulator are utilized to validate the effectiveness and superiority of the proposed control method.

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“…In refs. [41][42][43][44][45][46], different finite-time controllers are proposed for rigid robot manipulators. But these controllers cannot be useful for the case of finite-time control of FJR.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots

Datouo¹,

Ahanda

Melingui³

et al. 2020

Robotica

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SUMMARY The problem of finite-time tracking control for n-link flexible-joint robot manipulators is addressed. An adaptive fuzzy finite-time command-filtered backstepping control scheme is presented to solve the following problems: “explosion of terms” problem, finite-time stabilization of the closed-loop system, and the reduction of computational cost. To this end, new virtual adaptive control signals and new finite-time error compensation mechanism are constructed using inherent properties of robot manipulator systems. Based on the Lyapunov theory, the finite-time stabilization of the closed-loop system is proved. Simulation studies show the effectiveness of the proposed method.

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Finite-Time Adaptive Fuzzy Tracking Control Design for Parallel Manipulators with Unbounded Uncertainties

Cited by 16 publications

References 37 publications

Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

UDE-based task space tracking control of uncertain robot manipulator with input saturation and output constraint

Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots

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