Optimal fuzzy adaptive control for uncertain flexible joint manipulator based on
            <i>D</i>
            ‐operation

Dong, Fangfang; Zhao, Xiaomin; Han, Jiang; Chen, Ye‐Hwa

doi:10.1049/iet-cta.2017.0835

Cited by 18 publications

(20 citation statements)

References 19 publications

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“…Therefore, in the following text, the function represented by ϑ e (t) is actually equivalent to the function represented by ϑ a (t), just a different form of expression. According to [23], there exists a corresponding dimensional constant vector ψ(t) ∈ R n ′ (maybe unknown) and a known function Π(θ(t), ϑ(t),ψ(t)) : R n × R n × (0, ∞) n ′ → R + , the n ′ and n represent the corresponding dimensions.…”

Section: Remarkmentioning

confidence: 99%

Optimal Design Oriented Adaptive Robust Control for A Planar 2-DOF Redundantly Actuated Parallel Robot

Han

Wang

Dong

et al. 2021

Preprint

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An adaptive robust control combined with a multi-objective parameter optimization method for the parallel robot with unknown uncertainty is proposed. In the active joint space, the accurate dynamic model of the parallel robot can be obtained by combining the closed-chain constraint force and the open-chain system's dynamic equation. According to the Udwadia-Kalaba theory, the closed-chain constraint force imposed by the end effector can be calculated in a simple way. The proposed adaptive robust control could guarantee deterministic robust performances of the system (the uniform boundedness and uniform ultimate boundedness). To seek suitable weighting factors for the proposed control, a system performance function, which includes the transient performance portion, the steady state performance portion, and the control cost, is introduced. By applying $D$-operation, the performance function is transformed into a multi-objective function with weighting factors. Meanwhile, the problem of choosing the optimal gain is equivalent to the problem of finding the minimum value of the system performance index function. An illustrative example illustrates the superiority of the proposed modeling method and the proposed adaptive robust control.

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Section: Remarkmentioning

confidence: 99%

Optimal Design Oriented Adaptive Robust Control for A Planar 2-DOF Redundantly Actuated Parallel Robot

Han

Wang

Dong

et al. 2021

Preprint

Self Cite

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“…In the case where the system uncertainties are described by fuzzy set, optimal control design has attracted much attention. [22][23][24][25][26][27] In these works, deterministic (not if-then based) controls were obtained, and the tunable control parameters were optimized based on the fuzzy system performance index and the control cost.…”

Section: Introductionmentioning

confidence: 99%

Adaptive constraint‐following control for uncertain nonlinear mechanical systems with measurement error

Yang

Huang

et al. 2021

Intl J Robust & Nonlinear

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This study proposes an adaptive constraint-following control scheme for an uncertain nonlinear mechanical system. The concerned system is required to follow a class of (holonomic and nonholonomic) equality constraints. Uncertainties (possibly fast time-varying) exist in the dynamics equation and the equality constraints. Meanwhile, the system contains state measurement errors. Both the uncertainties and measurement errors are assumed to be bounded.Based on Udwadia-Kalapa approach and a saturation type adaptive law, an adaptive control scheme is proposed to drive the system to follow the prescribed constraints approximately. Through Lyapunov minimax analysis, it is proved that the resulting control guarantees the uniform boundedness and uniform ultimate boundedness of the closed-loop constrained mechanical system despite the presence of the uncertainties and the measurement errors. Numerical simulations of the vehicle lateral motion control are presented. The results validate the effectiveness of the proposed methodology.

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“…The linear quadratic regulation (LQR) was used to obtain an optimal design of connected cruise control under the communication delay environment [12]. Other recent results can be found in [13–17].…”

Section: Introductionmentioning

confidence: 99%

An exponential type control design for autonomous vehicle platoon systems

Zhao

Dong

et al. 2020

Asian Journal of Control

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Grouping vehicles into platoon is an effective method of increasing the road capacity of vehicles. Thereby there are autonomous vehicle platoon systems. In this paper, a platoon system consisting of a leading vehicle and N following vehicles is considered. The dynamic model containing the uncertainty is established subject to the physical laws. The uncertainty is time‐varying and bounded with unknown bound. Our objective is to design a control to guarantee uniform ultimate boundedness and collision avoidance. This is then formulated as a one‐sided constraint‐following control problem. Employing swarm properties, Udwadia‐Kalaba theory and a state transformation, an exponential type adaptive robust control approach for each following vehicle is brought forward. The proposed control renders the platoon system uniform boundedness and uniform ultimate boundedness in the presence of the uncertainty. The performances of compact formation and collision avoidance are also achieved.

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Optimal fuzzy adaptive control for uncertain flexible joint manipulator based on D ‐operation

Cited by 18 publications

References 19 publications

Optimal Design Oriented Adaptive Robust Control for A Planar 2-DOF Redundantly Actuated Parallel Robot

Optimal Design Oriented Adaptive Robust Control for A Planar 2-DOF Redundantly Actuated Parallel Robot

Adaptive constraint‐following control for uncertain nonlinear mechanical systems with measurement error

An exponential type control design for autonomous vehicle platoon systems

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