Inverse Dynamics-based Control with Parameter Adaptation for Tip-tracking of Flexible Link Robot

Zhu, Xingyi; Yannick, Cianyi; Cao, Jian

doi:10.1109/wrcsara53879.2021.9612622

Cited by 3 publications

(3 citation statements)

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“…This approach was introduced by Gopalswamy and Hedrick [16], and its idea is to define new output functions such that the new zero dynamics become stable. Various procedures have been suggested for output redefinition in the literature [5,6,8,[16][17][18][19][20][21][22][23][24][25][26][27][28]. In most of them, the proposed methods are not applicable for general form of non-linear systems and they have been only designed for a specific system like flexible links [22,23,25,27], hypersonic vehicles [5,21], high speed trains [6], unmanned aerial vehicles [24], anti-ship missiles [26] and underactuated ships [8].…”

Section: Introductionmentioning

confidence: 99%

“…Various procedures have been suggested for output redefinition in the literature [5, 6, 8, 16–28]. In most of them, the proposed methods are not applicable for general form of non‐linear systems and they have been only designed for a specific system like flexible links [22, 23, 25, 27], hypersonic vehicles [5, 21], high speed trains [6], unmanned aerial vehicles [24], anti‐ship missiles [26] and underactuated ships [8].…”

Section: Introductionmentioning

confidence: 99%

“…The contribution of this paper is therefore summarized as follows: (i)Considering a general form of the parametric redefined outputs applicable for general non‐linear systems.

Output tracking control of non‐minimum phase systems using on‐line output redefinition approach based on barrier function method Reference Control method Plant Reference Signal Redefinition General Reference Signal On‐line Output Redefinition [5]Inverse dynamicsHypersonic vehiclesYesYesNo[6]State feedbackHigh speed trainsYesYesNo[8]Inverse dynamicsUnderactuated shipsNoYesNo[16]Inverse dynamicsGeneral formNoNoNo[17]Learning controlLinear dynamicsNoNoNo[18]Input–output linearizationGeneral formNoNoNo[19]Feedback linearizationGeneral formNoNoNo[20]Gradient descent methodSystems with special relative degreesNoYesNo[21]Sliding mode controlHypersonic vehiclesYesYesNo[22, 23]Inverse dynamicsFlexible linksNoYesYes[24]Neural network based feedback linearizationUnmanned aerial vehiclesNoNoNo[25]Neural network and inverse dynamicsFlexible linksYesYesYes[26]Adaptive fuzzy sliding modeAnti‐ship missilesNoYesNo[

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Section: Introductionmentioning

confidence: 99%

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Output tracking control of non‐minimum phase systems using on‐line output redefinition approach based on barrier function method

Jahangiri

Yadegar

2022

IET Control Theory & Appl

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This paper considers the output tracking problem of non-minimum phase non-linear systems using the inverse dynamics control which is impossible in conventional methods due to unstable zero dynamics. The proposed method is based on the output redefinition approach defined as a parametric function. The tracking error is decomposed into two terms. The first one named redefined output tracking error is the difference between the redefined output and the reference signal, and the second one is the distance between the redefined output and the system output. For the first term, due to minimum phase property of the system with the redefined output, an inverse dynamics control is used to guarantee the convergence of the redefined output tracking error to zero. To minimize the second term, the parameters of the redefined output are set by solving an optimization problem whose constraints include minimum phase conditions. To solve the optimization problem which satisfies all constraints, the barrier function method as an interior point method is adopted. The optimization parameters are set using steepest descent algorithm. Due to online updating the redefined output parameters, the related zero dynamics is time varying. Therefore, sufficient conditions for exponential stability of the resulting time-varying zero dynamics are obtained.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…The contribution of this paper is therefore summarized as follows: (i)Considering a general form of the parametric redefined outputs applicable for general non‐linear systems.