Finite-time disturbance reconstruction and robust fractional-order controller design for hybrid port-Hamiltonian dynamics of biped robots

Farid, Yousef; Ruggiero, Fabio

doi:10.1016/j.robot.2021.103836

Cited by 10 publications

(2 citation statements)

References 45 publications

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“…A fractional-order sliding-mode-based integrated fault tolerant attitude tracking controller design for a rigid spacecraft with actuator faults was studied by Qian et al (2020). Finite-time disturbance reconstruction and robust fractional-order controller design for port-Hamiltonian dynamics of biped robots subject to impact, parameter uncertainty, and external disturbance investigated by Farid and Ruggiero (2021). Although the fractional-order sliding-mode controller can improve the tracking performance of dynamic systems, the controller can be realized only if the system structure is fully understood, which is difficult to achieve in real life.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous locomotion and manipulation control of quadruped robots using reinforcement learning-based adaptive fractional-order sliding-mode control

Farid

2023

Transactions of the Institute of Measurement and Control

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This paper investigates a model-free reinforcement learning-based approach that enables the quadruped robot to manipulate objects while maintaining its balance and dynamic stability during walking. At first, the dynamics of quadruped robots in two sub-spaces, position control space and force control space, are developed. Then, a new long-term performance index is introduced, and a radial basis function neural network as a critic network is presented to estimate the unobtainable long-term performance index. Based on the exported reinforcement signal, the actor neural network is introduced to generate the feedforward compensation term to cope with the nonlinear dynamics and the system uncertainties. The robustness of the actor-critic reinforcement learning algorithm is enhanced by using a fractional-order sliding-mode controller in the closed-loop system. The online adaptive laws for both the critic and actor-network weights are obtained using the Lyapunov stability theory. As a result, the uniformly ultimately boundedness of the position and the force tracking errors are proven. Finally, numerical simulations are conducted to illustrate the feasibility and effectiveness of the proposed adaptive actor-critic learning-based control scheme.

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Section: Introductionmentioning

confidence: 99%

Simultaneous locomotion and manipulation control of quadruped robots using reinforcement learning-based adaptive fractional-order sliding-mode control

Farid

2023

Transactions of the Institute of Measurement and Control

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“…Nonlinear FO systems of orders lower than three are able to generate chaotic attractors. 25,26 Moreover, it is demonstrated that UPO found in these systems can serve as a generalization of the integer-order case and potentially provide more accurate system modeling for a number of applications in robotics 27,28 and optimal motion planning. 29,30 Some control techniques have been applied for stabilizing the UPO of FO chaotic systems such as linear feedback control.…”

Section: Introductionmentioning

confidence: 99%

Stabilizing unstable periodic orbit of unknown fractional-order systems via adaptive delayed feedback control

Yaghooti,

Safavigerdini,

Hajiloo

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents an adaptive nonlinear delayed feedback control scheme for stabilizing the unstable periodic orbit of unknown fractional-order chaotic systems. The proposed control framework uses the Lyapunov approach and sliding mode control technique to guarantee that the closed-loop system is asymptotically stable on a periodic trajectory sufficiently close to the unstable periodic orbit of the system. The proposed method has two significant advantages. First, it employs a direct adaptive control method, making it easy to implement this method on systems with unknown parameters. Second, the framework requires only the period of the unstable periodic orbit. The robustness of the closed-loop system against system uncertainties and external disturbances with unknown bounds is guaranteed. Simulations on fractional-order duffing and gyro systems are used to illustrate the effectiveness of the theoretical results. The simulation results demonstrate that our approach outperforms the previously developed linear feedback control method for stabilizing unstable periodic orbits in fractional-order chaotic systems, particularly in reducing steady-state error and achieving faster convergence of tracking error.

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Applications of Fractional Operators in Robotics: A Review

Chávez-Vázquez

Gómez-Aguilar

Lavín-Delgado

et al. 2022

J Intell Robot Syst

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Finite-time disturbance reconstruction and robust fractional-order controller design for hybrid port-Hamiltonian dynamics of biped robots

Cited by 10 publications

References 45 publications

Simultaneous locomotion and manipulation control of quadruped robots using reinforcement learning-based adaptive fractional-order sliding-mode control

Simultaneous locomotion and manipulation control of quadruped robots using reinforcement learning-based adaptive fractional-order sliding-mode control

Stabilizing unstable periodic orbit of unknown fractional-order systems via adaptive delayed feedback control

Applications of Fractional Operators in Robotics: A Review

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