Uniformly ultimately bounded tracking control of sandwich systems with nonsymmetric sandwiched dead-zone nonlinearity and input saturation constraint

Azhdari, Meysam; Binazadeh, Tahereh

doi:10.1177/1077546320987940

Cited by 12 publications

(6 citation statements)

References 37 publications

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“…The desired limit cycle Γ and phase trajectory of the closed-loop system under the proposed method and the method of [41] FIGURE 11 The time response of the sliding surface FIGURE 12 The time response of the control input (a) proposed controller, (b) controller given in [41] The results of comparing some important performance indexes between the proposed method and the method presented in [41] are expressed in Table 1.…”

Section: Figure 10mentioning

confidence: 99%

“…Recently, finite‐time control has been extensively studied for systems that face some practical input constraints like saturation, dead‐zone, hysteresis, and backlash. One of the well‐known non‐smooth non‐linearities in control input is the dead zone which often occurs in many practical systems such as hydraulic actuators, electrical servomotors, piezoelectric, and mechanical connections [11–13]. In most cases, it occurs due to the inherent features of actuators, imperfection of system equipment, and limitations on the system's performance which may degrade the responses, create undesirable behaviours, and even lead to instability of systems [14–16].…”

Section: Introductionmentioning

confidence: 99%

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Robust adaptive finite‐time control design for the generation of stable oscillations in the strict‐feedback form non‐linear systems with input dead‐zone non‐linearity

Azhdari

Binazadeh

2022

IET Control Theory & Appl

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This paper presents a novel finite‐time limit cycle control for a class of strict‐feedback non‐linear systems with input dead‐zone non‐linearity, parameter uncertainties, and unknown disturbances. Creating attractive limit cycles in the phase plane of dynamical systems leads to generating sustained oscillations in the system's output. Achieving the finite‐time limit cycle is an extremely challenging problem because existing finite‐time theorems cannot be applied directly. To solve this difficulty, a novel structure of the sliding surface is introduced concerning the shape of the desired limit cycle. Then, to achieve the control objective, the sliding mode and backstepping control techniques are employed throughout the finite‐time stability concept. Simultaneously, to deal with the parameter uncertainties in the system's dynamic, the adaptive scheme is utilized. Moreover, a finite‐time command filter is introduced to cope with the trouble of the explosion of complexity in the backstepping method. The presented method rigorously ensures that the trajectories of the closed‐loop system converge to a small boundary region of the desired stable limit cycle within a finite time and equivalently the system's output reaches the desired periodic oscillation after a finite time. The applicability and effectiveness of the proposed method are validated by providing the comparative simulation results.

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Section: Figure 10mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust adaptive finite‐time control design for the generation of stable oscillations in the strict‐feedback form non‐linear systems with input dead‐zone non‐linearity

Azhdari

Binazadeh

2022

IET Control Theory & Appl

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“…Authors in [3] investigated the LC design for elastic joint robots for regulating of the proposed energy function for the system. The LC synthesis with tracking problem was studied for systems exposed to uncertainties and disturbances [4]. Authors in [5] designed a sliding mode controller for the LC with dead-zone nonlinearity.…”

Section: Introductionmentioning

confidence: 99%

Generation of Limit Cycles in Nonlinear Systems: Machine Leaning Based Type-3 Fuzzy Control

et al. 2023

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A limit cycle is a cyclic path of oscillation on which the states of a nonlinear system settle. A considerable number of practical systems such as robots, converters, and heartbeat require generating the sustainable oscillatory behaviours. The objective is to design a controller to generate limit cycle with specific behaviours. In this paper, a novel fuzzy control (FC) strategy is introduced to create the limit-cycle for nonlinear complex dynamics with unknown uncertainties. The suggested controller benefits from new interval type-3 fuzzy logic, allowing the control synthesis to improve the quality of closed-loop response and robust performance. The adaptively learned backstepping controller based on FC is employed to analyze the convergence and robustness. Various simulations are proposed to ensure the efficiency of the fuzzy-based control law and adaption rules.

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“…With the growth of the need for robot control systems in various industries, the control performance indicators of the robot are being taken seriously, which is directly indicated by transient behavior and steady-state error. The conventional adaptive tracking control scheme guarantees that the system errors trend to the bounded set [24][25][26][27][28][29]. However, determining how to design tracking control to ensure the performance requirements of the robotic system is still a challenge.…”

Section: Introductionmentioning

confidence: 99%

Symmetric Time-Variant IBLF-Based Tracking Control with Prescribed Performance for a Robot

Zhang,

Yan

2023

Symmetry

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In this work, an improved symmetric integral barrier function-based tracking control is addressed for a robotic manipulator in the presence of position error performance requirements and unknown uncertain terms. First of all, we construct an improved symmetric time-variant integral barrier function to solve the robotic system’s constrained requirements. The novel barrier function is constructed by developing an integral upper limit function that can be used in conjunction with existing performance envelope functions. Then, the equivalent conversion error is taken as the upper limit of the integral function to achieve the specified steady-state as well as transient behaviors of the system. Additionally, a disturbance observer based on the velocity tracking error is introduced to compensate for unknown uncertain terms. In the end, a numeral simulation study on a robot with two degrees is performed to indicate that the present scheme is feasible in handling the performance constraint and uncertain terms.

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Uniformly ultimately bounded tracking control of sandwich systems with nonsymmetric sandwiched dead-zone nonlinearity and input saturation constraint

Cited by 12 publications

References 37 publications

Robust adaptive finite‐time control design for the generation of stable oscillations in the strict‐feedback form non‐linear systems with input dead‐zone non‐linearity

Robust adaptive finite‐time control design for the generation of stable oscillations in the strict‐feedback form non‐linear systems with input dead‐zone non‐linearity

Generation of Limit Cycles in Nonlinear Systems: Machine Leaning Based Type-3 Fuzzy Control

Symmetric Time-Variant IBLF-Based Tracking Control with Prescribed Performance for a Robot

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