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The Impulse Excitation Joint Servo Drive Design and adaptive backstepping control of Humanoid Robots

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Journal of Bionic Engineering 2018年第1期15卷 114-125页

作者： Kcqiang Bai Minzhou Luo Tao Li Jue Wu Southwest University of Science and Technology Mianyang 621010 China Department of Automation School of Information Science of Technology University of Science and Technology of China Hefei 230026 China Institute of Advanced Manufacturing and Technology Hefei Institute of Physical Science Chinese Academy of Sciences Changzhou 213164 China

This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on. Moreover, the backstepping control algorithm is designed to implement the dual-arm cooperative control. The joint servo drive is redesigned in the present study, which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque. A miniature design scheme is presented in this study for the servo drive, explaining the design method of each part module. The ex- perimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor. Knowledge of the control of humanoid robot moving a heavy object has important practical significance. The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.

关键词： adaptive backstepping control bionic robot drive integration design impulse excitation servo drive

adaptive backstepping control for Uncertain Systems with Compound Nonlinear Characteristics

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Transactions of Nanjing University of Aeronautics and Astronautics 2021年第2期38卷 249-258页

作者： LI Fei WANG Shimei HU Jianbo LIU Bingqi Equipment Management and Unmanned Aerial Vehicle Engineering College Air Force Engineering UniversityXi’an 710051P.R.China Department of Military and Political Foundation Air Force Engineering UniversityXi’an 710051P.R.China

An adaptive backstepping multi-sliding mode approximation variable structure control scheme is proposed for a class of uncertain nonlinear *** actuator model with compound nonlinear characteristics is established based on the model decomposition *** unmodeled dynamic term of the radial basis function neural network approximation system is *** Nussbaum gain design technique is utilized to overcome the problem that the control gain is *** adaptive law estimation is used to estimate the upper boundary of neural network approximation and uncertain *** adaptive approximate variable structure control effectively weakens the control signal chattering while enhancing the robustness of the *** on the Lyapunov stability theory,the stability of the entire control system is *** main advantage of the designed controller is that the compound nonlinear characteristics are considered and ***,simulation results are given to show the validity of the control scheme.

关键词： compound nonlinearities saturation hysteresis adaptive backstepping control radial basis function(RBF)neural network

adaptive backstepping control with Extended State Observer for Wheeled Mobile Robot

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Adaptive Backstepping Control with Extended State Observer f...

A new four-dimensional hyperjerk system with stable equilibrium point, circuit implementation, and its synchronization by using an adaptive integrator backstepping control

第三十九届中国控制会议

作者： Ke Wang Yong Liu Chengwei Huang Peng Cheng School of Computer Science and Engineering Nanjing university of science and technology

In this paper,the adaptive backstepping controller is designed based on kinematics and dynamics model of the wheeled mobile robot（WMR）.Based on backstepping control theory,an adaptive law is designed to reduce the influence of the control system because of the internal disturbance caused by uncertain or unknown parameters of system and the external disturbance caused by environmental *** stability theory is applied to prove the stability of the adaptive *** order to further reduce the influence of disturbance on the control performance,the extended state observer（ESO） is introduced to observe the disturbances of linear speed and angular speed which compensate the control output value of adaptive *** results show that the proposed control method can adapt disturbance of the system and has a good performance on trajectory tracking.

关键词： wheeled mobile robot adaptive backstepping control extended state observer

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Chinese Physics B 2018年第10期27卷 231-239页

作者： J P Singh V T Pham T Hayat S Jafari F E Alsaadi B K Roy Department of Electrical Engineering National Institute of Technology Silchar 788010 India School of Electronics and Telecommunications Hanoi University of Science and Technology 01 Dai Co Viet Hanoi Viet Nam Department of Mathematics Faculty of Science King Abdulaziz University Jeddah 21589 Saudi Arabia Department of Mathematics Quaid-I-Azam University Islamabad 44000 Pakistan Ambikar University of Technology Tehran 15875-4413Iran Department of Information Technology Faculty of Computing and IT King Abdulaziz University Jeddah Saudi Arabia

This paper reports a new simple four-dimensional（4 D） hyperjerk chaotic system. The proposed system has only one stable equilibrium point. Hence, its strange attractor belongs to the category of hidden attractors. The proposed system exhibits various dynamical behaviors including chaotic, periodic, stable nature, and coexistence of various attractors. Numerous theoretical and numerical methods are used for the analyses of this system. The chaotic behavior of the new system is validated using circuit implementation. Further, the synchronization of the proposed systems is shown by designing an adaptive integrator backstepping controller. Numerical simulation validates the synchronization strategy.

关键词： new hyperjerk chaotic system stable equilibrium hidden attractors adaptive backstepping control synchronization

Robust adaptive backstepping control for Missile Servo control System with Backlash and Disturbances

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Robust Adaptive Backstepping Control for Missile Servo Contr...

Enhanced Model Reference adaptive backstepping control of Permanent Magnet Synchronous Generator Equipped Wind Energy Conversion System with Stator Parameters Varying

第三十九届中国控制会议

作者： Kunfeng Zhang Xiaolu Xu Fei Wu Cong Li Luoyang Optoelectronic Technology Development Center

This paper deals with the compensation of backlash with backlash parameters unknown and bounded disturbances including hinge moment disturbances,parameters drifts and model errors in missile servo control *** adaptive smooth backlash inverse model is introduced to reduce the influence of the *** order to ensure the convergence of dynamic parameters estimations and global stability of the closed loop control system,a robust adaptive backstepping approach is *** results show that the proposed controller can guarantee stability and transient performance for both parametric uncertainties and *** robust adaptive control algorithm significantly improves the system’s tracking accuracy and has good robustness and stability to disturbances and parameters variations.

关键词： backlash disturbances adaptive backstepping control

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Enhanced Model Reference Adaptive Backstepping Control of Pe...

adaptive Fuzzy Observer backstepping control for a Class of Uncertain Nonlinear Systems with Unknown Time-delay

2011 Chinese control and Decision Conference（CCDC）

作者： ZU Hui is with the School of Automation,Southeast University,Nanjing 210096,China .ZHANG Guo-bao is with the School of Automation,Southeast University,Nanjing 210096,China .FEI Shu-min is with the School of Automation,Southeast University,Nanjing 210096,China

Based on model reference adaptive backstepping control (MRABC) method,an enhanced MRABC (EMRABC) scheme is proposed for permanent magnet synchronous generator (PMSG) equipped direct-drive wind energy conversion system (WECS) with stator parameters *** algorithm is robust to aerodynamic moment disturbance and stator resistance and inductance *** with MRABC,theoretical analysis and simulation results show the validity of the proposed approach.

关键词： WECS PMSG Stator parameters uncertainty adaptive backstepping control Maximum power point tracking

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International Journal of Automation and computing 2010年第2期7卷 236-246页

作者： Shao-Cheng Tong Ning Sheng Department of Mathematics Liaoning University of Technology Jinzhou 121000 PRC

In this paper, a new adaptive fuzzy backstepping control approach is developed for a class of nonlinear systems with unknown time-delay and unmeasured states. Using fuzzy logic systems to approximate the unknown nonlinear functions, a fuzzy state observer is designed for estimating the unmeasured states. On the basis of the state observer and applying the backstepping technique, an adaptive fuzzy observer control approach is developed. The main features of the proposed adaptive fuzzy control approach not only guarantees that all the signals of the closed-loop system are semiglobally uniformly ultimately bounded, but also contain less adaptation parameters to be updated on-line. Finally, simulation results are provided to show the effectiveness of the proposed approach.

关键词： Fuzzy logic systems nonlinear time-delay systems adaptive backstepping control state observer stability analysis.

adaptive backstepping Sliding Mode control for Nonlinear Systems with Input Saturation

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Transactions of Tianjin University 2012年第1期18卷 46-51页

作者： ZHANG Hongmei ZHANG Guoshan School of Electrical Engineering and Automation Tianjin UniversityTianjin 300072China School of Automation Shenyang Aerospace UniversityShenyang 110136China

An adaptive backstepping sliding mode control is proposed for a class of uncertain nonlinear systems with input saturation.A command filtered approach is used to prevent input saturation from destroying the adaptive capabilities of neural networks (NNs).The control law and adaptive updating laws of NNs are derived in the sense of Lyapunov function,so the stability can be guaranteed even under the input *** proposed control law is robust against the disturbance,and it can also eliminate the impact of input *** results indicate that the proposed controller has a good performance.

关键词： nonlinear system input saturation adaptive backstepping control sliding mode control neural network

Vibration control of A Flexible Marine Riser System Subject to Input Dead Zone and Extraneous Disturbances

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China Ocean Engineering 2024年第2期38卷 271-284页

作者： ZHOU Li WANG Guo-rong WAN Min School of Mechatronic Engineering Southwest Petroleum UniversityChengdu 610500China Energy Equipment Institute Southwest Petroleum UniversityChengdu 610500China National Key Laboratory of Oil and Gas Reservoir Geology and Exploitation Southwest Petroleum UniversityChengdu 610500China

An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental *** control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control ***,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each *** direction interference observers are designed to track the timevarying boundary *** this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead *** addition,the stability of the closed-loop system is proven by Lyapunov stability *** the system states are bounded,and the vibration offset of the riser converges to a small area of the initial ***,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.

关键词： adaptive backstepping control disturbance observer flexible marine riser input dead zone vibration control