Barrier Function-Based Adaptive Lyapunov Redesign for Systems Without <i>A Priori</i> Bounded Perturbations

Cruz-Ancona, Christopher D.; Estrada, Manuel A.

doi:10.1109/tac.2021.3107453

Cited by 11 publications

(6 citation statements)

References 34 publications

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“…x IHIP , is approximated based on an intelligent method. 2) Although the dynamics model is unknown, the manipulator robot defined by equation ( 3) is still able to accurately track the desired trajectory generated by the impedance model equation (5).…”

Section: Control Goalsmentioning

confidence: 99%

“…Established and reviewed in Rahman et al, 36 damper and spring elements are commonly utilized to define impedance models. Thus, the impedance model, equation (5), can be simplified as follows…”

Section: Estimation Of the Surgeon's Motion Intention Based On Rbfnns...mentioning

confidence: 99%

“…These two controllers exhibit complementary characteristics rendering the shortcomings of one being potentially addressed by the other. In essence, the robust controller permits to directly estimate modeled system parameters, as well as controller gains, 5 whereas the same practice is computationally expensive, and nearly infeasible, for the adaptive controller. 6 That being said, predetermining parameters' uncertainty bounds is a prerequisite for the robust controller sought feasibility.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Skill learning approach based on impedance control for spine surgical training simulators with haptic playback

Brahmi

Bojairami

Ghomam

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, a robust adaptive impedance control based on the modified function approximation technique, and augmented with a novel integral nonsingular terminal sliding mode control, is proposed for a surgical haptic system. The haptic device is maneuvered by surgeons, whereby the mode of action, motion path, and haptic dynamics are rendered as unknowns. The inclusion of integral nonsingular terminal sliding mode control leverages the capability of ensuring consistent tracking of system’s trajectories performance, fast transient response, finite-time convergence, improved robustness, and reduced chattering. However, the modified function approximation technique strategy allows to estimate model’s dynamics regardless of the availability of dynamic uncertainties’ lower and upper bounds. In addition, an estimate of the intended motion mode and path is integrated in the evolved adaptive impedance control, via radial basis function neural network, permitting the haptic arm to track the target impedance model. Finally, using the haptic arm, controlled experimental cases and comparative study were done, after which the proposed surgical simulator adopted the results for real-time validation.

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Section: Control Goalsmentioning

confidence: 99%

Section: Estimation Of the Surgeon's Motion Intention Based On Rbfnns...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Skill learning approach based on impedance control for spine surgical training simulators with haptic playback

Brahmi

Bojairami

Ghomam

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…Tests with tighter saturation bounds of the UAV actuators are also presented. In the future, it is of interest to address the joint presence of state-dependent uncertainty and saturation, e.g., by extending recently proposed Lyapunov redesigns [47], [48] to an underactuated setting.…”

Section: B Stability Resultsmentioning

confidence: 99%

An Underactuated Control System Design for Adaptive Autopilot of Fixed-Wing Drones

Baldi

Roy

Yang

et al. 2022

IEEE/ASME Trans. Mechatron.

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Effective design of autopilots for fixed-wing unmanned aerial vehicles (UAVs) is still a great challenge, due to unmodeled effects and uncertainties that these vehicles exhibit during flight. Unmodeled effects and uncertainties comprise longitudinal/lateral cross-couplings, as well as poor knowledge of equilibrium points (trimming points) of the UAV dynamics. The main contribution of this article is a new adaptive autopilot design, based on uncertain Euler-Lagrange dynamics of the UAV and where the control can explicitly take into account under-actuation in the dynamics, reduced structural knowledge of cross-couplings and trimming points. This system uncertainty is handled via appropriately designed adaptive laws: stability of the controlled UAV is analyzed. Hardware-in-the-loop tests, comparisons with an Ardupilot autopilot and with a robustified autopilot validate the effectiveness of the control design, even in the presence of strong saturation of the UAV actuators.

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“…In [21], an adaptive Lyapunov redesign method based on a Barrier Function approach has been investigated for nonlinear systems without a priori knowledge of the perturbations, where the considered barrier function produces a continuous control input with low chattering. In [22], an adaptive sliding mode (ASM) control technique without a priori bounded perturbation is proposed, where the priori bounded uncertainties might impose a priori bounds on states of the system before achieving the closed-loop stability.…”

Section: Introductionmentioning

confidence: 99%

Nonsingular Terminal Sliding Mode Control Based on Adaptive Barrier Function for nth-Order Perturbed Nonlinear Systems

et al. 2021

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In this study, an adaptive nonsingular finite time control technique based on a barrier function terminal sliding mode controller is proposed for the robust stability of nth-order nonlinear dynamic systems with external disturbances. The barrier function adaptive terminal sliding mode control makes the convergence of tracking errors to a region near zero in the finite time. Moreover, the suggested method does not need the information of upper bounds of perturbations which are commonly applied to the sliding mode control procedure. The Lyapunov stability analysis proves that the errors converge to the determined region. Last of all, simulations and experimental results on a complex new chaotic system with a high Kaplan–Yorke dimension are provided to confirm the efficacy of the planned method. The results demonstrate that the suggested controller has a stronger tracking than the adaptive controller and the results are satisfactory with the application of the controller based on chaotic synchronization on the chaotic system.

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Barrier Function-Based Adaptive Lyapunov Redesign for Systems Without A Priori Bounded Perturbations

Cited by 11 publications

References 34 publications

Skill learning approach based on impedance control for spine surgical training simulators with haptic playback

Skill learning approach based on impedance control for spine surgical training simulators with haptic playback

An Underactuated Control System Design for Adaptive Autopilot of Fixed-Wing Drones

Nonsingular Terminal Sliding Mode Control Based on Adaptive Barrier Function for nth-Order Perturbed Nonlinear Systems

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