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A New adaptive Tracking control Approach for Uncertain Flexible Joint Robot System

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International Journal of Automation and computing 2015年第5期12卷 559-566页

作者： Zhen-Guo Liu Jin-Ming Huang School of Automation Southeast University School of Engineering Qufu Normal University

The adaptive tracking problem for uncertain flexible joint robot system is studied in this paper. By utilizing the adaptive backstepping method, an adaptive controller is constructed at the beginning. By utilizing the modified adaptive dynamic surface control technique, a new adaptive controller is presented afterwards to avoid the overparametrization problem and the explosion of complexity problem existing in the adaptive backstepping method. All the signals of the closed-loop system are rendered globally/semi-globally uniformly ultimately bounded, and the tracking error can be made arbitrarily small by tuning the designed parameters. A simulation example is given to show the validity of the control algorithm.

关键词： Flexible joint robots adaptive control backsteppin

维普期刊数据库

Actuator Efficiency adaptive Flatness control Model and Its Application in 1250 mm Reversible Cold Strip Mill

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Journal of Iron and Steel Research(International) 2013年第6期20卷 13-20页

作者： WANG Peng-fei PENG Yan LIU Hong-min ZHANG Dian-hua WANG Jun-sheng National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University State Key Laboratory of Rolling and Automation Northeastern University Anshan Iron and Steel Company

The existing research of the flatness control for strip cold rolling mainly focuses on the calculation of the optimum adjustment of individual flatness actuator in accordance with the flatness deviation , which is used for general flatness *** the basis of flatness control system , the efficiencies of flatness actuators provide a quantitative description to the law of flatness *** , the determination of actuator efficiency factors is crucial in flatness *** strategies of closed loop feedback flatness control and rolling force feed-forward control were established respectively based on actuator efficiency *** the purpose of obtaining accurate efficiency factors matrixes of flatness actuators , a self-learning model of actuator efficiency factors was *** precision of actuator efficiency factors can be improved continuously by the input of correlative measured flatness *** , the self-learning model of actuator efficiency factors permits the application of this flatness control for all possible types of actuators and every stand *** application results show that the self-learning model is capable of obtaining good flatness.

关键词： actuator efficiency self-learning adaptive control flatness control cold rolling

维普期刊数据库

Asymptotical Synchronization of Memristor-based Neural Networks with Time-Varying Delays via adaptive control

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Asymptotical Synchronization of Memristor-based Neural Netwo...

第36届中国控制会议

作者： Yueheng Li Zhanyu Yang Zhe Dong College of Electrical and control Engineering North China University of Technology School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (纸本)9781538629185

This paper is focused on the asymptotical synchronization of memristor-based neural networks with time-varying delays via adaptive *** existing investigations,most results about synchronization of MNNs can only be applied to some specific ***,we introduce a new simple adaptive controller to synchronize two MNNs with time-varying delays ***,some new conditions for analysing the synchronization error system are also ***,a numerical example is given to verify the effectiveness of the proposed adaptive controllers.

关键词： Asymptotical synchronization Memristor-based neural networks adaptive control Time-varying delays

Approximation-based adaptive fuzzy control for a class of non-strict-feedback stochastic nonlinear systems

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Science China(Information Sciences) 2014年第3期57卷 233-248页

作者： WANG HuanQing CHEN Bing LIN Chong School of Mathematics and Physics Bohai University Institute of Complexity Science Qingdao University

This paper considers the problem of adaptive fuzzy control of a class of single-input/single-output(SISO)nonlinear stochastic systems in non-strict-feedback *** logic systems are used to approximate the uncertain nonlinearities and backstepping technique is utilized to construct an adaptive fuzzy *** proposed controller guarantees that all the signals in the resulting closed-loop system are bounded in *** main contribution of this note lies in providing a control strategy for a class of nonlinear systems in non-strict-feedback *** result is used to test the efectiveness of the suggested approach.

关键词： stochastic nonlinear systems in non-strict-feedback form adaptive control fuzzy control back-stepping approach

An adaptive Identification and control SchemeUsing Radial Basis Function Networks

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Journal of Systems Engineering and Electronics 1999年第1期10卷 54-61页

作者： Chen Zengqiang He Jiangfeng Yuan Zhuzhi (Department of Computer and System Science, Nankai University, Tianjin 300071, P. R. China)(Received July 12, 1998) Department of Computer and System Science Nankai University Tianjin 300071 P. R. China

In this paper, adaptive identification and control of nonlinear dynamical systems are investigated using radial basis function networks (RBF). Firstly, a novel approach to train the RBF is introduced, which employs an adaptive fuzzy generalized learning vector quantization (AFGLVQ) technique and recursive least squares algorithm with variable forgetting factor (VRLS). The AFGLVQ adjusts the centers of the RBF while the VRLS updates the connection weights of the network. The identification algorithm has the properties of rapid convergence and persistent adaptability that make it suitable for real-time control. Secondly, on the basis of the one-step ahead RBF predictor, the control law is optimized iteratively through a numerical stable Davidon's least squares-based (SDLS) minimization approach. Four nonlinear examples are simulated to demonstrate the effectiveness of the identification and control algorithms.

关键词： Neural networks adaptive control Nonlinear control Radial basis function networks Recursive least squares.

维普期刊数据库

Fuzzy adaptive control of Networked control System with Unknown Time-delay

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Fuzzy Adaptive Control of Networked Control System with Unkn...

第三十届中国控制会议

作者： DANG Xuan-Kien~1,GUAN Zhi-Hong~1,TRAN Hoang-Dung~1,LI Tao~2 1.Department of control Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,P.R.China 2.Electronics and Information College,Yangtze University,Jingzhou 420400,P.R.China

＜正＞In this paper,we propose a fuzzy adaptive controller design for a class of networked control systems（NCS） with the presence of network induced delay,data packet dropout and unknown time-delay controlled *** mathematical model of Smith predictor,which is combined with fuzzy adaptive controller and fuzzy compensator time-delay,is designed to adjust online its parameters according to the changing of the system’s *** results based on TrueTime Beta2.0 simulation platform demonstrate that our design significantly improves the response of system over unknown time-delay.

关键词： adaptive control Fuzzy adaptive controller Networked control System Smith Predictor Unknown Time-Delay

Decentralized Robust adaptive control of Uncertain Nonlinear Systems Using Dual High Gain

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Decentralized Robust Adaptive Control of Uncertain Nonlinear...

第二十七届中国控制会议

作者： P.Krishnamurthy F.Khorrami IntelliTech Microsystems Inc.4931 Telsa DriveSuite B.Bowie MD 20715 control/Robotics Research Laboratory(CRRL) Dept.of Elec.and Comp.Engg.Polytechnic UniversityBrooklynNY

We propose a decentralized output-feedback controller for a general class of interconnected large-scale *** subsystem in the large-scale system is comprised of a triangular（strict-feedback-like） system coupled with an appended Inputto-State Stable（ISS） *** design is based on our recent results on a new adaptive high-gain control design approach utilizing a dual high-gain observer and controller architecture with a dynamic *** technique provides strong robustness properties and allows the system class to contain unknown functions dependent on all states and involving unknown parameters（with no magnitude bounds required） .Both the uncertain parameters and the appended dynamics are allowed to be coupled with the entire system state.

关键词： Decentralized Large-scale systems High gain Output-feedback adaptive control Nonlinear systems

Robust adaptive control for a Class of Disturbed Cyber-Physical Systems with Denial of Service

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Robust Adaptive Control for a Class of Disturbed Cyber-Physi...

第三十九届中国控制会议

作者： Shao-Yu Lü Xiao-Zheng Jin School of Electrical Engineering and Automation HeFei University of Technology School of Computer Science and Technology Qilu University of Technology (Shandong Academy of Sciences)

This paper investigates the bounded stability control problem for cyber-physical systems with multiple transmission channels under disturbance and denial-of-service（DoS） attacks. It is assumed that the attacker has limited resources, and can only manipulate a certain number of sensors, but each transmission channel is attacked arbitrarily. A novel adaptive method based on Lyapunov theory is proposed to achieve bounded stability results of the closed-loop system under DoS attacks, then,each system state can converge into a small region. Finally, Simulation results on an aircraft system are given to substantiate the efficiency of the proposed method.

关键词： Cyber-physical systems denial-of-service(DoS) attack bounded stability adaptive control

On the Recursive Implementation of adaptive control for Robot Manipulators

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On the Recursive Implementation of Adaptive Control for Robo...

第二十九届中国控制会议

作者： WANG Hanlei National Key Laboratory of Science and Technology on Space Intelligent control,Beijing Institute of control Engineering,Beijing 100190,P.R.China

This paper investigates the recursive implementation of adaptive control for robot *** the spatial vector tool and exploiting some physical properties of multi-body systems,we propose a general framework on the seeking of the Coriolis and centripetal matrix which satisfies the so-called skew-symmetric *** two existing choices are analyzed and a new kind of Coriolis and centripetal matrix is *** between these choices show that the simplest-form Coriolis and centripetal matrix comes from the original recursive Newton-Euler dynamics based on spatial vectors,which implies that skew-symmetric property is an inherent property possessed by spatial-vector based recursive Newton-Euler dynamics *** the proposed general framework regarding establishment of the Coriolis and centripetal matrix,a class of recursive passivity based adaptive algorithms have been *** the next,we present an algorithm on how to derive the filtered manipulator torque *** this filtered torque,the prediction error of the filtered torque is obtained and injected to the direct adaptation,forming the well-known composite adaptation *** adaptation driven by both the tracking errors and the prediction errors gives more smooth tracking error response and estimated parameter response,and also better tracking accuracy.A six-DOF manipulator is employed as a simulation example to show the performance of the proposed recursive algorithms.

关键词： adaptive control Recursive Implementation Robot Manipulators Uncertainties Passivity