Novel adaptive backstepping control of uncertain electrically driven haptic robot for surgical training systems

Brahmi, Brahim; El-Monajjed, Khaled; Driscoll, Mark

doi:10.1080/00207179.2020.1857845

Cited by 2 publications

(1 citation statement)

References 27 publications

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“…A series of problems such as oil depletion and environmental pollution have led to more and more research on NEV, and many experiments have been conducted to optimize the performance of NEV. For example, some scholars have used the aggregate capacitor thermal model in the ADVISOR simulation toolkit to predict the effect of battery temperature on vehicle performance, which predicts the temperature change of vehicle battery based on conditions such as air cooling flow and battery type, and based on this model, the thermal behavior of the battery module is analyzed and vehicle performance is studied [1]. Overseas research on EMC test technology of electric drive system of NEV is extensive, especially in the area of on-load testing has achieved remarkable results, for example, some scholars have proposed the test method of high and low voltage coupling coefficient of electric drive system of electric and hybrid vehicles, and the relevant EMC tests are conducted in standard certified test chambers, and some optimization schemes are proposed about the problems of on-load testing system but there are still some Some optimization solutions are proposed for the problems of the on-load test system but there are still some deficiencies [2][3].…”

Section: Introductionmentioning

confidence: 99%

New Energy Vehicle System Optimization on Hill Climbing Algorithm

2020

KME

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New energy vehicles(NEV) include three major categories: hybrid vehicles, fuel cell vehicles, and pure electric vehicles. Pure electric vehicles are vehicles that completely use the electrical energy from the on-board battery pack as the driving energy for vehicle driving. The battery pack on pure electric vehicles can use renewable energy to replace traditional fuel, which can not only alleviate the current energy crisis, but also greatly reduce the environmental pollution caused by the automotive industry. Therefore, in the context of global countries paying more and more attention to the ecological environment, NEV, especially pure electric vehicles, are gradually being used and developed more and more. This paper establishes a new energy vehicle system, carries out current optimization for the power battery model of the system, builds a current optimization simulation model based on the hill-climbing algorithm on MATLAB simulation software, compares the current harmonic content of the stator structure of SynRM before and after the current optimization control strategy, and finds that the optimized system can improve the immunity of the electric drive products of new energy electric vehicles.

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Section: Introductionmentioning

confidence: 99%

New Energy Vehicle System Optimization on Hill Climbing Algorithm

2020

KME

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A novel control solution to nonlinear systems of unmatched perturbations with unknown bounds

Hameed,

Al-Samarraie,

Humaidi

2024

Measurement and Control

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In this study, a novel control design of nonlinear systems has been presented to solve the problem of matched and unmatched perturbations (disturbances) with unknown upper bounds. The proposed controller combined a backstepping control approach with a barrier function integral sliding mode controller (BS-BFISMC). The control design utilized the powerful backstepping control algorithm to decompose the nonlinear system into subsystems to provide global stability, while the barrier function ISMC has been adopted to cope with perturbation, avoid the pre-knowledge of upper bound in the perturbation, and mitigate the chattering effect in the control signal. A stability analysis based on Lyapunov has been conducted for the proposed BS-BFISMC to prove the ultimate boundedness of tracking errors. Another control scheme, which is concerned with the problem of unmatched perturbation, has been also presented: a robust continuous backstepping-based controller (CRBS). A comparison study has been made between the proposed BS-BFISMC and three control structures (conventional backstepping, SMC, and CRBS). Numerical simulation based on MATLAB programing software has been conducted to verify the effectiveness of the proposed control approach for a nonlinear system subjected to both matched and unmatched non-vanishing disturbance and parametric uncertainty. The performance and robustness characteristics of the proposed control scheme and other controllers have been evaluated and compared in a quantitative manner.

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Novel adaptive backstepping control of uncertain electrically driven haptic robot for surgical training systems

Cited by 2 publications

References 27 publications

New Energy Vehicle System Optimization on Hill Climbing Algorithm

New Energy Vehicle System Optimization on Hill Climbing Algorithm

A novel control solution to nonlinear systems of unmatched perturbations with unknown bounds

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