Improved Nonlinear Extended Observer Based Adaptive Fuzzy Output Feedback Control for a Class of Uncertain Nonlinear Systems With Unknown Input Hysteresis

Nie, Linlin; Zhou, Miaolei; Cao, Wenjing

doi:10.1109/tfuzz.2023.3267549

Cited by 9 publications

(3 citation statements)

References 43 publications

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“…Adaptive-robust controllers are gaining popularity for handling uncertain nonlinear systems [ 5 , 6 ]. However, they have limitations.…”

Section: Introductionmentioning

confidence: 99%

“…However, they have limitations. Adaptive control involves time-intensive parameter and gain tuning [ 5 ], Robust control relies on predetermined uncertainty bounds, which can lead to overestimated gains, reduced accuracy, and unwanted chattering if improperly defined [ 6 ]. To address these issues, researchers are exploring hybrid adaptive-robust control [ 7 ].…”

Section: Introductionmentioning

confidence: 99%

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Adaptive-Robust Controller for Smart Exoskeleton Robot

Brahmi,

Dahani,

Bououden

et al. 2024

Sensors

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Rehabilitation robotics has seen growing popularity in recent years due to its immense potential for improving the lives of people with disabilities. However, the complex, uncertain dynamics of these systems present significant control challenges, requiring advanced techniques. This paper introduces a novel adaptive control framework integrating modified function approximation (MFAT) and double-integral non-singular terminal sliding mode control (DINTSMC). The goal is to achieve precise tracking performance, high robustness, a fast response, a finite convergence time, reduced chattering, and effective handling of unknown system dynamics. A key feature is the incorporation of a higher-order sliding mode observer, eliminating the need for velocity feedback. This provides a new solution for overcoming the inherent variations and uncertainties in robot manipulators, enabling improved accuracy within fixed convergence times. The efficacy of the proposed approach was validated through simulations and experiments on an exoskeleton robot. The results successfully demonstrated the controller’s effectiveness. Stability analysis using Lyapunov theory proved the closed-loop system’s uniform ultimate boundedness. This contribution is expected to enable enhanced control for rehabilitation robots and improved patient outcomes.

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“…Adaptive-robust controllers are gaining popularity for handling uncertain nonlinear systems [ 5 , 6 ]. However, they have limitations.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive-Robust Controller for Smart Exoskeleton Robot

Brahmi,

Dahani,

Bououden

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

“…As an undesirable nonlinearity in general, hysteresis negatively impacts the performance of these systems. Mitigation of the hysteresis effect in smart materials has been an active research field in the past several decades and remains a subject of significant interest [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

High-Precision Position Tracking Control with a Hysteresis Observer Based on the Bouc–Wen Model for Smart Material-Actuated Systems

Zhao,

Li,

Cao

et al. 2024

Actuators

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The Bouc–Wen model has been widely adopted to describe hysteresis nonlinearity in many smart material-actuated systems, such as piezoelectric actuators, shape memory alloy actuators, and magnetorheological dampers. For effective control design, it is of interest to estimate the hysteresis state that is not measurable. In this paper, the design of a state observer for the Bouc–Wen model is presented. It is shown that, with sufficiently high observer gains, the state estimate error, including that for the hysteresis state, converges to zero exponentially fast. The utility of the proposed hysteresis observer is illustrated in the design of a high precision output-feedback position tracking controller, and the resulting tracking error is shown to decay exponentially via Lyapunov analysis. Simulation and experimental results show that the proposed hysteresis observer and the high precision position tracking controller outperform a traditional extended state observer and the corresponding tracking controller, respectively.

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Neural network-based nonlinear model predictive control with anti-dead-zone function for magnetic shape memory alloy actuator

Su,

Zhang,

et al. 2024

Nonlinear Dyn

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Improved Nonlinear Extended Observer Based Adaptive Fuzzy Output Feedback Control for a Class of Uncertain Nonlinear Systems With Unknown Input Hysteresis

Cited by 9 publications

References 43 publications

Adaptive-Robust Controller for Smart Exoskeleton Robot

Adaptive-Robust Controller for Smart Exoskeleton Robot

High-Precision Position Tracking Control with a Hysteresis Observer Based on the Bouc–Wen Model for Smart Material-Actuated Systems

Neural network-based nonlinear model predictive control with anti-dead-zone function for magnetic shape memory alloy actuator

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