Synchronization of Chaotic Systems with Dead Zones via Fuzzy Adaptive Variable-Structure Control

HuangfuYongbing,; XueKaijuan,

doi:10.1155/2021/3224416

Cited by 1 publication

(3 citation statements)

References 35 publications

(38 reference statements)

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“…The model can be written as

where q =[ q 1 ,…, q n ] T ∈ R n represents joints position, u ∈ R n is a control signal with dead zones, M ( q ) is a inertia matrix,

is centrifugal pull, and

and g ( q ) are resistance and power of gravity, respectively. M ( q ) with respect to t total derivative is

, D is a semi-definite symmetric matrix [ 8 , 25 ].…”

Section: Dynamic Model Of Robotic Manipulatorsmentioning

confidence: 99%

“…Noting that in the robotic manipulators ( 3 ), the dead zone input exists. In this work, this input nonlinearity Ψ i ( u i ) can be expressed as [ 25 ]

…”

Section: Dynamic Model Of Robotic Manipulatorsmentioning

confidence: 99%

“…The establishment of Assumption 3 is not limited mainly due to the upper limit

is unknown, in addition, κ i ( x , m ) is a continuous function in the interval Ω x such that

always exists [ 25 ].…”

Section: The Construction Of Afcmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Fuzzy Controller Design for Uncertain Robotic Manipulators Subject to Nonlinear Dead Zone Inputs

Zhang¹

2022

Computational Intelligence and Neuroscience

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This paper comes up with the adaptive fuzzy scheme for multi-degree robotic manipulators with dead zone. Fuzzy logic system is employed to approximate unknown nonlinear functions and input nonlinear functions with dead zones that are introduced. The adaptive fuzzy technique is utilized to deal with the problems of multi-joint robotic manipulators with unknown nonlinear functions in dead zones. Based on Lyapunov criterion, all the states and signals involved in the system are maintained in a certain bounded region and the tracking error converges to a small domain of origin. Finally, a simulation example of robotic manipulators with two joints is structured to confirm the practicability of the raised scheme.

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“…The model can be written as

where q =[ q 1 ,…, q n ] T ∈ R n represents joints position, u ∈ R n is a control signal with dead zones, M ( q ) is a inertia matrix,

is centrifugal pull, and

and g ( q ) are resistance and power of gravity, respectively. M ( q ) with respect to t total derivative is

, D is a semi-definite symmetric matrix [ 8 , 25 ].…”

Section: Dynamic Model Of Robotic Manipulatorsmentioning

confidence: 99%

“…Noting that in the robotic manipulators ( 3 ), the dead zone input exists. In this work, this input nonlinearity Ψ i ( u i ) can be expressed as [ 25 ]

…”

Section: Dynamic Model Of Robotic Manipulatorsmentioning

confidence: 99%