Adaptive Control for Pneumatic Artificial Muscle Systems With Parametric Uncertainties and Unidirectional Input Constraints

Sun, Ning; Liang, Dingkun; Wu, Yiming; Chen, Yiheng; Qin, Yanding; Fang, Yongchun

doi:10.1109/tii.2019.2923715

Cited by 135 publications

(67 citation statements)

References 36 publications

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“…e nonnegativity condition given by f z > 0 is a unidirectional input constraint. Future work would include augmenting the sliding mode controller to avoid violating the constraint such as in [27], taking the rotor dynamics into account as well as expanding the model into 3D space.…”

Section: Discussionmentioning

confidence: 99%

Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration

Kusznir

Smoczek

2020

Journal of Control Science and Engineering

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This paper addresses the problem of damping vibrations of a cable-suspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotor-pendulum system in the X-Z plane using Euler–Lagrange formulation. Sliding mode control (SMC) is used for horizontal positioning and payload vibration damping, while a feedback linearizing controller is used for both altitude and attitude control. The SMC surface parameters are determined by placing the eigenvalues of the linearized system at a desired position. The simulation results show the effectiveness of the proposed control method in minimizing payload vibration by comparing it with a partial feedback linearizing controller and a ZVDD input shaper.

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Section: Discussionmentioning

confidence: 99%

Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration

Kusznir

Smoczek

2020

Journal of Control Science and Engineering

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“…is also bounded, so it can be proven that lim t→∞ Ψ(t) = 0 by utilizing Barbalat's lemma [19][20][21].…”

Section: Closed-loop Stability Analysismentioning

confidence: 99%

A Robust Levitation Control of Maglev Vehicles Subject to Time Delay and Disturbances: Design and Hardware Experimentation

Sun

Xie

et al. 2020

Applied Sciences

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Maglev vehicles have become a new type of transportation system with higher speed, lower noise, and commercial appeal. Magnetic-suspension systems, which have high nonlinearity and open-loop instability, are the core components of maglev vehicles. The high-performance control of maglev vehicles has been the focus of numerous studies. Encountering challenges in the levitation control of maglev vehicles in the form of uncertain time delays and disturbances is unavoidable. To cope with these problems, this study presents the design of an adaptive robust controller based on the Riccati method and sliding-mode technology, simultaneously taking into account the influence of time delays and disturbances. The asymptotic stability of the closed-loop system with the proposed control law is proved by the Lyapunov method. Control performances of the proposed controller are shown in the simulation results. Together with the consistently stabilizing outputs, the presented control approach can handle time delays and disturbances well. Finally, experiments were also implemented to examine its practical control performance of the robust levitation-control law.high-speed maglev train, as the world's first high-speed commercial maglev line, has been successfully open to traffic since December 2002, with a maximum operating speed of 431 km/h. In May 2016, the Changsha maglev line was put into trial operation and it reached the international leading level. In December 2017, Beijing's first medium-and low-speed maglev train, S1, began operations. A number of other cities and regions are also planning to introduce maglev technology. The official opening of the commercial operation line has met the basic requirements of engineering application, but there are still many technical difficulties, especially for the analysis and design of a levitation-control system.During complex working conditions and long-term passenger service, some problems occur in the levitation system that do not occur in laboratories or the short-term test-line assessments. These emerging problems seriously affect the stability and reliability of the levitation system and even cause the partial suspension-point failure of the vehicle, which affects the comfort and riding experience of the maglev train, and even hinders the application of more commercial maglev-transportation systems. These problems are closely related to the performance of the levitation-control system. In the past few decades, studies on magnetic-suspension systems have received much interest. Yan J D [6] utilized a Back Propagation (BP) neural network to adjust online parameters with a PI (proportional -integral) controller according to electromagnetic suspension acceleration and operation speed, and simulation results showed the effective suppression of electromagnetic vibration and the improvement of vehicle riding comfort. Sun [7] proposed an adaptive neural-fuzzy controller with sliding-mode technology that could achieve excellent dynamic performance under disturbance and uncertainty. He et al...

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“…Actuator saturation is often observed in movement control . Inclusion of saturation functions in the control system can effectively reduce the tracking error brought by input saturation (Sun et al, 2019), and can be also applied in the current study. A saturation block from Matlab/Simulink was included to restrict the motor speed within the limit.…”

Section: Adjustable Admittance Control For the Ankle Jointmentioning

confidence: 99%

Development of an Improved Rotational Orthosis for Walking With Arm Swing and Active Ankle Control

Zhang

Yang

et al. 2020

Front. Neurorobot.

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Based on interlimb neural coupling, gait robotic systems should produce walking-like movement in both upper and lower limbs for effective walking restoration. Two orthoses were previously designed in our lab to provide passive walking with arm swing. However, an active system for walking with arm swing is desirable to serve as a testbed for investigation of interlimb neural coupling in response to voluntary input. Given the important function of the ankle joint during normal walking, this work aimed to develop an improved rotational orthosis for walking with arm swing, which is called ROWAS II, and especially to develop and evaluate the algorithms for active ankle control. After description of the mechanical structure and control schemes of the overall ROWAS II system, the closed-loop position control and adjustable admittance control algorithms were firstly deduced, then simulated in Matlab/Simulink and finally implemented in the ROWAS II system. Six able-bodied participants were recruited to use the ROWAS II system in passive mode, and then to estimate the active ankle mechanism. It was showed that the closed-loop position control algorithms enabled the ROWAS II system to track the target arm-leg walking movement patterns well in passive mode, with the tracking error of each joint <0.7 • . The adjustable admittance control algorithms enabled the participants to voluntarily adjust the ankle movement by exerting various active force. Higher admittance gains enabled the participants to more easily adjust the movement trajectory of the ankle mechanism. The ROWAS II system is technically feasible to produce walking-like movement in the bilateral upper and lower limbs in passive mode, and the ankle mechanism has technical potential to provide various active ankle training during gait rehabilitation. This novel ROWAS II system can serve as a testbed for further investigation of interlimb neural coupling in response to voluntary ankle movement and is technically feasible to provide a new training paradigm of walking with arm swing and active ankle control.

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Adaptive Control for Pneumatic Artificial Muscle Systems With Parametric Uncertainties and Unidirectional Input Constraints

Cited by 135 publications

References 36 publications

Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration

Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration

A Robust Levitation Control of Maglev Vehicles Subject to Time Delay and Disturbances: Design and Hardware Experimentation

Development of an Improved Rotational Orthosis for Walking With Arm Swing and Active Ankle Control

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