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robust control of Robotic Manipulators in the Task-Space Using an Adaptive Observer Based on Chebyshev Polynomials

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Journal of Systems Science & Complexity 2020年第5期33卷 1360-1382页

作者： GHOLIPOUR Reza FATEH Mohammad Mehdi Department of Electrical and Robotic Engineering Shahrood University of Technology*** ShahroodIran

In this paper,an adaptive observer for robust control of robotic manipulators is *** lumped uncertainty is estimated using Chebyshev ***,the uncertainty upper bound is required in designing observer-controller ***,obtaining this bound is a challenging *** solve this problem,many uncertainty estimation techniques have been proposed in the literature based on neuro-fuzzy *** an alternative,in this paper,Chebyshev polynomials have been applied to uncertainty estimation due to their simpler structure and less computational *** on strictly-positive-rea Lyapunov theory,the stability of the closed-loop system can be *** Chebyshev coefficients are tuned based on the adaptation rules obtained in the stability ***,to compensate the truncation error of the Chebyshev polynomials,a continuous robust control term is designed while in previous related works,usually a discontinuous term is *** SCARA manipulator actuated by permanent magnet DC motors is used for computer *** results reveal the superiority of the designed method.

关键词： Adaptive observer Chebyshev polynomials electrically driven robot manipulators robust control uncertainty estimation

robust control of a Bevel-Tip Needle for Medical Interventional Procedures

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IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 244-256页

作者： Surender Hans Felix Orlando Maria Joseph Department of Electrical Engineering Indian Institute of Technology RoorkeeRoorkeeUttarakhand 247667India

In minimally invasive surgery, one of the main objectives is to ensure safety and target reaching accuracy during needle steering inside the target organ. In this research work, the needle steering approach is determined using a robust control algorithm namely the integral sliding mode control(ISMC) strategy to eliminate the chattering problem associated with the general clinical scenario. In general, the discontinuity component of feedback control input is not appropriate for the needle steering methodology due to the practical limitations of the driving actuators. Thus in ISMC, we have incorporated the replacement of the discontinuous component using a super twisting control(STC)input due to its unique features of chattering elimination and disturbance observation characteristics. In our study, the kinematic model of an asymmetric flexible bevel-tip needle in a soft-tissue phantom is used to evaluate stability analysis. A comparative study based on the analysis of chattering elimination is executed to determine the performance of the proposed control strategy in real-time needle steering with conventional sliding mode control using vision feedback through simulation and experimental results. This validates the efficacy of the proposed control strategy for clinical needle steering.

关键词： Minimal invasive surgery needle steering nonholonomic system robust control sliding mode control

robust control of uncertain robotic systems:An adaptive friction compensation approach

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Science China(Technological Sciences) 2021年第6期64卷 1228-1237页

作者： WANG QiShao ZHUANG Han DUAN ZhiSheng WANG QingYun Department of Dynamics and control Beihang UniversityBeijing 100191China College of Engineering Peking UniversityBeijing 100871China

This paper solves the robust control problem of robotic manipulator systems with uncertain dynamics by friction compensation approach. A weighting factor is introduced to distinguish the role of friction in control process by comparing the directions of sliding vector and friction. Utilizing the weighting factor, model-based and model-free adaptive friction compensation controllers are designed to achieve asymptotical tracking of the desired joint-space trajectory according to the knowledge of friction. The damping property of friction is fully used to improve the control performance by compensating the friction harmful for the stability, and on the other hand, utilizing the beneficial friction. Numerical simulations are given to demonstrate the control performance of the proposed approach.

关键词： robotic control friction compensation adaptive control robust control

robust control of exciting force for vibration control system with multi-exciters

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Science China(Technological Sciences) 2013年第10期56卷 2516-2524页

作者： SONG QiaoZhi YANG ZhiChun WANG Wei Institute of Structural Dynamics and control School of Aeronautics Northwestern Polytechnical University

Due to the dynamical character of electromagnetic exciter and the coupling between structure and exciter(s),the actual output force acting on the structure is usually not equal to the exact value that is supposed to be,especially when multi-exciters are used as actuators to precisely actuate large flexible *** is necessary to consider these effects to ensure the force generated by each exciter is the same as *** this paper,a robust control method is proposed for the multi-input and multi-output(MIMO)structural vibration control system to trace the target actuating force of each exciter.A special signal is designed and put into the coupled mul-ti-exciter-structure system,and the input and output signals of the system are used to build a dynamic model involving both the dynamical characters of the exciters and the structure using the subspace identification *** the uncertainty factors of the multi-exciter/structure system,an H-infinity robust controller is designed to decouple the coupling between structure and exciters based on the identified system model.A MIMO vibration control system combined with a flexible plate and three electromagnetic exciters is adopted to demonstrate the proposed method,both numerical simulation and model experiments showing that the output force of each exciter can trace its target force accurately within the requested frequency band.

关键词： multi-exciters system exciting force control subspace identification robust control experiment modeling

robust control for electric vehicle powertrains

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control Theory and Technology 2019年第4期17卷 382-392页

作者： Johannes BUERGER James ANDERSON BMW Group MunichGermany Department of Computing and Mathematical Sciences the California Institute of TechnologyPasadenaU.S.A.

This paper considers the application of robust control methods(μ-and H∞-synthesis)to the speed and acceleration control problem encountered in electric vehicle *** this end,we consider a two degree of freedom control structure with a reference *** underlying powertrain model is derived and combined into the corresponding interconnected system required forμ-and H∞-*** closed-loop performance of the resulting controllers are compared in a detailed simulation analysis that includes nonlinear *** is observed that theμ-controller offers performance advantages in particular for the acceleration control problem,but at the price of a high-order controller.

关键词： Automotive control electric vehicle powertrains robust control

robust control Based on Feedback Linearization for Roll Stabilizing of Autonomous Underwater Vehicle Under Wave Disturbances

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China Ocean Engineering 2011年第2期25卷 251-263页

作者：潘立鑫金鸿章王琳琳 Beijing Institute of control Engineering China Academy of Space Technology College of Automation Harbin Engineering University College of Information Inner Mongolia University of Technology

In the case of Autonomous Underwater Vehicle （AUV） navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. robust control is applied, which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer. Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system. For parameter uncertainty of motion model, the controller is designed with mixed-sensitivity method based on H-infinity robust control theory. Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.

关键词： wave disturbances roll stabilization robust control zero-speed fin stabilizer

robust control of uncertain time delay system:a novel sliding mode control design via LMI

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Journal of Systems Engineering and Electronics 2006年第3期17卷 624-628页

作者： Qu Shaocheng Wang gongji Dept. of Information and Technology Huazhong Normal Univ. Wuhan 430079P. R. China Dept. of control Science and Engineering Huazhong Univ. o~ Science and Technology Wuhan 430074 P. R. China

The sliding mode control problem （SMC） is studied for a class of uncertain delay system in the presence of both parameter uncertainties and external disturbances. A novel virtual feedback control method is presented. Based on Lyapunov theory, sufficient conditions for design of the robust sliding mode plane are derived. Sliding mode controller based on reaching law concept is developed, which is to ensure system trajectories from any initial conditions asymptotically convergent to sliding mode plane. The global asymptotically stability of the closed-loop system is guaranteed. A numerical example with simulation results is given to illustrate the effectiveness of the methodology.

关键词： time-delay systems sliding mode control robust control LMI.

robust control of Permanent Magnet Synchronous Motors

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IEEE/CAA Journal of Automatica Sinica 2015年第2期2卷 143-150页

作者： Zhenhua Deng Xiaohong Nian School of Information Science and Engineering Central South University Key Lab of System and control Academy of Mathematics and System Science Chinese Academy of Sciences School of Information Science and Engineering Central South University

In this paper, permanent magnet synchronous motors (PMSMs) are investigated. According to the feature of PMSMs, a novel state equation of PMSMs is obtained by choosing suitable state variables. Based on the state equation, robust controllers are designed via interval matrix and PI control idea. In terms of bilinear matrix inequations, sufficient conditions for the existence of the robust controller are derived. In order to reduce the conservation and the dependence on parameter, the control inputs of PMSMs are divided into two parts, a feedforward control input and a feedback control input, and relevant sufficient conditions for the existence of the controller are obtained. Because of the suitable choice of state variables, the proposed control strategies can cope with the load uncertainty and have robustness for disturbance. Finally, simulations are carried out via Matlab/Simulink soft to verify the effectiveness of the proposed control strategies. The performance of the proposed control strategies are demonstrated by the simulation results. © 2014 Chinese Association of Automation.

关键词： controllers Equations of state Feedback control Feedforward control Magnets MATLAB robust control Synchronous motors

Delay-dependent robust control for uncertain discrete singular systems with time-varying delay

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2008年第8期9卷 1034-1042页

作者： Hui-jiao WANG Xiao-dong ZHAO An-ke XUE Ren-quan LU Institute of Automation Zhejiang Sci- Tech University Hangzhou 310018 China Institute of Information and control Hangzhou Dianzi University Hangzhou 310018 China

The design problem of delay-dependent robust control for uncertain discrete singular systems with time-varying delay is addressed in this paper. The uncertainty is assumed to be norm-bounded. By establishing a finite sum inequality based on quadratic terms, a new delay-dependent robust stability condition is derived and expressed in terms of linear matrix inequalities (LMIs). A suitable robust state feedback control law is presented, which guarantees that the resultant closed-loop system is regular, causal and stable for all admissible uncertainties. Numerical examples are given to demonstrate the applicability of the proposed method.

关键词： Uncertain discrete singular system Time-varying delay robust control Linear matrix inequality (LMI)