Fuzzy sampled-data H<mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="inline" id="d1e855" altimg="si4.svg"><mml:mi>∞</mml:mi></mml:math> sliding-mode control for active hysteretic suspension of commercial vehicles with unknown actuator-disturbance

Zhang, Z.; Qin, An; Zhang, Jie; Zhang, Bangji; Fan, Qianrong; Zhang, Nong

doi:10.1016/j.conengprac.2021.104940

Cited by 14 publications

(2 citation statements)

References 44 publications

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“…In practical AC system [16], uncertainty, such as a change in payload mass, is inevitable. The uncertainty of ACs is characterized by (possibly rapid and irregular) time-varying and unknown bounds [17].…”

Section: Introductionmentioning

confidence: 99%

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Zhang

Yin

2023

Nonlinear Dyn

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Articulating crane (AC), a widely used crane, plays an essential role in various industrial activities. Owing to its strong nonlinearity and uncertainty, its tracking control remains challenging, particularly for precise dynamic tracking control. This paper proposes an adaptive diffeomorphism-constraint-based control (ADCBC) for a nonlinear AC to robustly achieve trajectory tracking while guaranteeing desired dynamic control performance (DDCP), considering (possibly rapid and irregular) time-variant uncertainty with unknown bounds. A user-definable hard-limiting function was used to guarantee the DDCP, including the requirement for steady-state tracking error and dynamic convergence speed. The desired trajectories and DDCP were formulated as equality and inequality servo constraints, respectively. A diffeomorphism approach was adopted to incorporate inequality servo constraints into equality servo constraints, yielding new equality servo constraints. Thus, the control task was converted to enable the transformed AC to follow the new equality servo constraints and was completed by a constraint-based control (CBC) scheme, where an adaptive law was established for the estimation of online uncertainty bounds to compensate for uncertainty. No approximations or linearizations were invoked. The effectiveness and robustness of the proposed ADCBC were confirmed through rigorous proofs and simulation results. To the best of our knowledge, this is the first endeavor in tracking control while guaranteeing the DDCP for uncertain AC-like systems.

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Section: Introductionmentioning

confidence: 99%

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Zhang

Yin

2023

Nonlinear Dyn

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“…Uncertainty is inevitable in the AC [11], [12], [13], which may significantly degrade its control performance. The characteristic of AC uncertainties (e.g., the change of loading mass or the wind disturbance) is generally (possibly fast) time variant and bounded with unknown bounds, making the control design of the AC tough [14], [15], [16]. On the other hand, This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.…”

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confidence: 99%

Precise Tracking Control for Articulating Crane: Prescribed Performance, Adaptation, and Fuzzy Optimality by Nash Game

Zhang

Cao

et al. 2024

IEEE Trans. Cybern.

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Articulating crane (AC) is used in various industrial activities. The articulated multisection arm exacerbates nonlinearities and uncertainties, making the precise tracking control challenging. This study proposes an adaptive prescribed performance tracking control (APPTC) for AC to robustly fulfill the task of precise tracking control, with adaptation to resist time-variant uncertainties, whose bounds are unknown but lie in prescribed fuzzy sets. Particularly, a state transformation is applied to simultaneously track the desired trajectory and satisfy the prescribed performance. Adopting the fuzzy set theory to describe uncertainties, APPTC does not invoke any IF-THEN fuzzy rules. There is no linearizations, or nonlinear cancelation for APPTC, thus making it approximation free. The performance of the controlled AC is twofold. First, deterministic performance in fulfilling the control task is ensured by the Lyapunov analysis using uniform boundedness and uniform ultimate boundedness. Second, fuzzy-based performance is further improved by an optimal design, which seeks the optima of control parameters by formulating a two-player Nash game. The existence of Nash equilibrium is theoretically proved, and its acquisition process is given. The simulation results are provided for validations. This is the first endeavor that explores the precise tracking control for fuzzy AC.

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Adaptive Robust Tracking Control for Aerial Work Platform Vehicle with Guaranteed Prescribed Performance

Dai,

Zhang,

Zhang

et al. 2024

Lecture Notes in Electrical Engineering

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Fuzzy sampled-data H∞ sliding-mode control for active hysteretic suspension of commercial vehicles with unknown actuator-disturbance

Cited by 14 publications

References 44 publications

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Precise Tracking Control for Articulating Crane: Prescribed Performance, Adaptation, and Fuzzy Optimality by Nash Game

Adaptive Robust Tracking Control for Aerial Work Platform Vehicle with Guaranteed Prescribed Performance

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