Adaptive robust approximate constraint-following control for mechanical systems

Chen, Ye‐Hwa; Zhang, Xinrong

doi:10.1016/j.jfranklin.2009.10.012

Cited by 139 publications

(124 citation statements)

References 10 publications

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“…In reality, there are a number of uncertainties in practical systems, such as the initial positions, the external disturbances, and the parameter variations. The constraint stability method 41 is useful for handling these uncertainties to achieve the exact adaptive robustness control of the system.…”

Section: Controller Designmentioning

confidence: 99%

“…Schutte 39 studied the modeling and control problem of nonholonomic mechanical systems when using Udwadia-Kalaba equation and designed nonlinear feedback controllers for such types of mechanical system, and Bajodah et al 40 focused on the mathematical calculation problems in servo control solution when using Udwadia-Kalaba equation, essential for the practical application of this equation. Chen et al [41][42][43] also researched on the adaptive robust control of uncertain mechanical systems on the basis of UdwadiaKalaba theory.…”

Section: Introductionmentioning

confidence: 99%

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A novel approach for modeling and tracking control of a passive-wheel snake robot

Huang

Shao

Zhen

et al. 2017

Advances in Mechanical Engineering

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This article proposed a novel approach for the dynamic modeling and controller design of a passive-wheel snake robot based on Udwadia-Kalaba theory. Compared to common methods, this approach is easily processed for many-degreeof-freedom snake robot. The desired trajectory is easily modeled as a trajectory constraint, and the nonholonomic constraints from the passive wheels' lateral velocity are also easily handled using Udwadia-Kalaba theory. Besides the proposed equation of motion is analytical, no approximation or linearization as well as extra variables such as Lagrangian multiplier is needed as common methods usually do. The servo joint constraint forces are precisely calculated by solving Udwadia-Kalaba equation, and no complicated control structure design is needed as common control methods always do especially for under-actuated mechanical systems. This article provides a novel dynamic modeling and controller design approach for the passive-wheel snake robot in a new perspective. The theoretical analysis and simulation verify the proposed approach. The trajectory has good incidence with the designed one, and the real-time joint forces are also conveniently acquired.

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Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A novel approach for modeling and tracking control of a passive-wheel snake robot

Huang

Shao

Zhen

et al. 2017

Advances in Mechanical Engineering

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“…Remark The control design () is new. Some significant development and improvement are made relative to . To show the advantage of the control (), the following analysis and comparison are made.…”

Section: High‐order Adaptive Robust Control Designmentioning

confidence: 99%

A New High‐Order Adaptive Robust Control for Constraint Following of Mechanical Systems

Yang

Zhao

Sun

et al. 2017

Asian Journal of Control

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A mechanical system is to follow a class of prescribed holonomic or nonholonomic constraints. The system contains time‐varying bounded uncertainty. However, the bound is unknown. The objective is to design a control which renders constraint following. A new high‐order adaptive robust control is proposed. The control guarantees uniform boundedness and uniform ultimate boundedness even in the presence of the uncertainty. Significant advantages of this new control are demonstrated both analytically and numerically. It is shown that the system performance, including the finite entering time, constraint‐following error, and control magnitude, can be improved by tuning the control order.

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“…Lam designed a space mission for a satellite to follow a circular orbit around an oblate rotating body whose gravitational field is nonuniform [42]. Following the framework established by Udwadia and Kalaba, Chen carried on the thorough research on the constraint-following control for mechanical systems with uncertainties and proposed several classes of adaptive robust controllers [43][44][45][46]. Schutte studied the control problem of nonlinear mechanical systems with holonomic and nonholonomic constraints on the basis of Udwadia and Kalaba equation and proposed two types of nonlinear state feedback controllers which are shown to provide exact tracking and stabilization to the constrained system under certain conditions [47].…”

Section: Introductionmentioning

confidence: 99%

Application of the Udwadia–Kalaba approach to tracking control of mobile robots

et al. 2015

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Udwadia-Kalaba approach which presents a new, general and explicit equation of motion for constrained mechanical systems with holonomic or nonholonomic constraints is applied to the trajectory tracking control of the mobile robot in this paper. Unlike any other nonlinear control methods, the inspiration for this methodology which does not make any linearization or approximations comes from a different, though closely allied, field, namely analytical dynamics. The control torques required to control the mobile robot so that it precisely satisfies the trajectory requirements which are represented by an arbitrary (sufficiently smooth) function of time are obtained explicitly and in closed form by solving Udwadia-Kalaba equation. Numerical simulations are performed to show the simplicity, efficacy and accuracy of this closed-form method.

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Adaptive robust approximate constraint-following control for mechanical systems

Cited by 139 publications

References 10 publications

A novel approach for modeling and tracking control of a passive-wheel snake robot

A novel approach for modeling and tracking control of a passive-wheel snake robot

A New High‐Order Adaptive Robust Control for Constraint Following of Mechanical Systems

Application of the Udwadia–Kalaba approach to tracking control of mobile robots

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