Observer-Based Fuzzy Adaptive Event-Triggered Control for Pure-Feedback Nonlinear Systems With Prescribed Performance

Qiu, Jianbin; Sun, Kangkang; Wang, Tong; Gao, Huijun

doi:10.1109/tfuzz.2019.2895560

Cited by 479 publications

(185 citation statements)

References 46 publications

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“…The features of legless mode are: i) primary motion mode, ii) moved by the internal reaction force, iii) legs are folded inside the robot body, iv) no external moving parts, v) hermetically sealable, vi) any suitable outer structure is possible, and vii) suitable for applications inside the human body. In the legless mode, the robot is an underactuated system and nonlinear [19,20] and, a behaviour based control has been presented in [18] to control this nonlinear underactuated system.…”

Section: Legless Modementioning

confidence: 99%

Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot

Huda

Liu

Saha

et al. 2020

J Intell Robot Syst

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This paper presents a miniature hybrid capsule robot for minimally invasive in-vivo interventions such as capsule endoscopy within the GI (gastrointestinal) tract. It proposes new modes of operation for the hybrid robot namely hybrid mode and anchoring mode. The hybrid mode assists the robot to open an occlusion or to widen a narrowing. The anchoring mode enables the robot to stay in a specific place overcoming external disturbances (e.g. peristalsis) for a better and prolonged observation. The modelling of the legged, hybrid and anchoring modes are presented and analysed. Simulation results show robot propulsions in various modes. The hybrid capsule robot consisting four operating modes is more effective for the locomotion and observation within GI tract when compared to the locomotion consisting a single mean of locomotion as the hybrid robot can switch among the operating modes to suit the situation/task.

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Section: Legless Modementioning

confidence: 99%

Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot

Huda

Liu

Saha

et al. 2020

J Intell Robot Syst

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show abstract

“…It should be noticed that this law is very important to achieve accurate approximation of unknown nonlinear functions in the PPC design. In fact, adaptive fuzzy PPC methods are used in many references, for example, in [27][28][29][30]. However, the control methods in the aforementioned literature have no such ability.…”

Section: Proof Define the Lyapunov Function Asmentioning

confidence: 99%

Composite Adaptive Fuzzy Prescribed Performance Control of Nonlinear Systems

Cao

Wang

Xiang

2020

Mathematical Problems in Engineering

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This paper proposes an adaptive fuzzy prescribed performance control (PPC) method of a class of uncertain nonlinear systems. Different from the traditional PPC approach that requires the exact values of the initial conditions, by using a new type of performance function, the proposed PPC scheme together with a composite adaptation law works effectively even without the knowledge of initial conditions. Meanwhile, the constructed disturbance observer and fuzzy logic systems can estimate system uncertainties including external disturbances and fuzzy approximation errors. Under the proposed tracking controller, the boundedness of all involved signals is guaranteed, and the tracking errors satisfy the prescribed performance bounds all the time. Finally, simulation results show the efficacy of the proposed method.

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“…Another approach would have consisted in using Fuzzy Logic (FL) [19,20]. Yet another approach could be using the Filippov solutions [21].…”

Section: Stability Analysismentioning

confidence: 99%

Simulating a syringe behavior using a pneumatic cylinder haptic interface

Senac

Lelevé

Moreau

et al. 2019

Control Engineering Practice

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Mastering medical gestures, such as epidural needle insertion, requires much practice. Haptic interfaces can be efficient training solutions. Nevertheless, they must provide users with an accurate experience for an effective training. This article introduces a control framework that turns a pneumatic cylinder into a haptic interface able to simulate a syringe and more specifically the loss of resistance phenomenon encountered during an epidural needle insertion. To achieve this, the framework switches between two control laws (position and force tracking) according to the system state. Experiments involving two anesthetists confirm the practicality of this system for hands-on training or rehearsal purposes.

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Observer-Based Fuzzy Adaptive Event-Triggered Control for Pure-Feedback Nonlinear Systems With Prescribed Performance

Cited by 479 publications

References 46 publications

Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot

Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot

Composite Adaptive Fuzzy Prescribed Performance Control of Nonlinear Systems

Simulating a syringe behavior using a pneumatic cylinder haptic interface

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