Fuzzy Approximation-Based Finite-Time Control for a Robot With Actuator Saturation Under Time-Varying Constraints of Work Space

Kong, Linghuan; He, Wei; Yang, Wenjing; Li, Qing; Kaynak, Okyay

doi:10.1109/tcyb.2020.2998837

Cited by 96 publications

(74 citation statements)

References 56 publications

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“…The response speed and anti-interference ability of the system are improved by using the time-constraint stability strategy. Especially in recent years, with the development of time-constraint Lyapunov stability analysis and other theories, the application scope of time-constraint control method is broadened [ 24 , 25 ], and the control effect is further improved by combining with other algorithms, such as the inversion method and disturbance observer. In this paper, based on the inversion method, the inversion time-constraint stability (ITCS) controller is constructed by combining the inversion time-constraint control method with the technology of the nonlinear disturbance observer (NDO).…”

Section: Itcs Depth-controller Optimization Methods Designmentioning

confidence: 99%

Depth-Keeping Control for a Deep-Sea Self-Holding Intelligent Buoy System Based on Inversion Time Constraint Stability Strategy Optimization

Wang

Qiu

et al. 2022

Sensors

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Based on the nonlinear disturbance observer (NDO), the inversion time-constraint stability strategy (ITCS) is designed to make the deep-sea self-holding intelligent buoy (DSIB) system hovered at an appointed depth within a specified time limit. However, it is very challenging to determine the optimal parameters of an ITCS depth controller. Firstly, a genetic algorithm based on quantum theory (QGA) is proposed to obtain the optimal parameter combination by using the individual expression form of quantum bit and the adjustment strategy of quantum rotary gate. To improve the speed and accuracy of global search in the QGA optimization process, taking the number of odd and even evolutions as the best combination point of the genetic and chaos particle swarm algorithm (GACPSO), an ITCS depth controller based on GACPSO strategy is proposed. Besides, the simulations and hardware-in-the-loop system experiments are conducted to examine the effectiveness and feasibility of the proposed QGA–ITCS and GACPSO–ITCS depth controller. The results show that the proposed GACPSO–ITCS depth controller provides higher stability with smaller steady-state error and less settling time in the depth-control process. The research of the proposed method can provide a stable operation condition for the marine sensors carried by the DSIB.

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Section: Itcs Depth-controller Optimization Methods Designmentioning

confidence: 99%

Depth-Keeping Control for a Deep-Sea Self-Holding Intelligent Buoy System Based on Inversion Time Constraint Stability Strategy Optimization

Wang

Qiu

et al. 2022

Sensors

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“…Many scholars are committed to solving the control constraint problem of finite-time control and have achieved some research results. [19][20][21] Nevertheless, the upper boundary of settling-time function for finite-time stability is associated with the initial condition, and it is usually unbounded. To solve this issue, a more potent algorithm named fixed-time control has gained considerable consideration, whose settling-time function is bounded.…”

Section: Introductionmentioning

confidence: 99%

Predefined‐time tracking control for high‐order nonlinear systems with control saturation

Gong

Guo

et al. 2022

Intl J Robust & Nonlinear

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In this paper, an innovative predefined‐time tracking control algorithm is proposed for high‐order nonlinear systems with control saturation and disturbance, which can directly calculate the upper bound of settling‐time by user‐defined parameters. First, a predefined‐time observer based on tracking differentiator is applied to handle the disturbance. Next, a new predefined‐time tracking control algorithm is designed using the backstepping method, and a novel auxiliary dynamic system is designed to deal with the control saturation. The stability of the closed‐loop system is analyzed applying Lyapunov function‐like method. The derivative of the virtual controller is obtained by the first‐order filter to reduce the computation burden. It is worth mentioning that, different from the exiting results, all parameters related to settling‐time in each virtual controller can be selected differently, and it can improve the flexibility of the controller design. Finally, the robustness and effectiveness of the investigated algorithm have been demonstrated by two typical numerical simulations.

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“…The existence of actuator saturation will lead to the degradation of control performance, and even make the system unstable 36 . Many advanced control methods have also been developed for robotic systems to cope with the input saturation, for example, see References 37‐39 and the references therein. Noting that in the prescribed performance control framework, the inequality performance constraints are integrated into an error transformation by predefining the satisfied performance function.…”

Section: Introductionmentioning

confidence: 99%

Initial configurations‐independent predefined performance control of robotic manipulator with input saturation

Zhai

Xia

2022

Intl J Robust & Nonlinear

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This article develops a guaranteed predefined performance control scheme for a class of robotic manipulators with input saturation and unknown uncertainties.The main advantage is that it can provide convenient and quantifiable predefined performance control, by integrating the  1 -class performance function in the prescribed performance control framework and designing an adaptive anti-saturation compensator. The maximum overshoot, the settling time, and the steady-state error can be specified independently and are not limited by the initial configurations of the robotic system, where the introduction of  1 -class performance function simplifies the control design. By introducing the adaptive neural network estimator and anti-saturation compensator, the proposed robust controller is also available in the presence of dynamic uncertainties, external disturbance, and actuator saturation. The proposed adaptive anti-saturation compensator can be easily incorporated into the guaranteed predefined performance control, which simplifies the stability analysis. Numerical results based on simulations demonstrate the effectiveness of the proposed method.

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Fuzzy Approximation-Based Finite-Time Control for a Robot With Actuator Saturation Under Time-Varying Constraints of Work Space

Cited by 96 publications

References 56 publications

Depth-Keeping Control for a Deep-Sea Self-Holding Intelligent Buoy System Based on Inversion Time Constraint Stability Strategy Optimization

Depth-Keeping Control for a Deep-Sea Self-Holding Intelligent Buoy System Based on Inversion Time Constraint Stability Strategy Optimization

Predefined‐time tracking control for high‐order nonlinear systems with control saturation

Initial configurations‐independent predefined performance control of robotic manipulator with input saturation

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