Integrated adaptive robust control for multilateral teleoperation systems under arbitrary time delays

This work presents the implementation in real-time of a neural identifier based on a recurrent high-order neural network which is trained with an extended Kalman filter-based training algorithm and an inverse optimal control applied to a tracked robot. The recurrent high-order neural network identifier is developed without the knowledge of the plant model or its parameters; on the other hand, the inverse optimal control is designed for tracking velocity references. This article includes simulation and real-time results, both using MATLAB Ò , and also the experimental tests use a modified HD2Ò Treaded ATR Tank Robot Platform with wireless communication.

“…24 However, there are no reported works for tracked robots; furthermore, to work, these methods need to know the model of the system to be controlled.…”

Section: Introductionmentioning

confidence: 99%

Real-time neural identification and inverse optimal control for a tracked robot

Rios

Alanis

Lopez-Franco

et al. 2017

“…However, the anti-skidding technology is not very mature because of its single function. 11 The slip rate of the tractor can explain the power and traction reserved, which can directly affect the working performance; [12][13][14] however, in the case of complex road conditions, the slip rate is difficult to accurately measure in real time. Although the slip rate calculation only requires the vehicle's speed and the wheel speed, the error of the input signal is amplified in the process of calculation.…”

Section: Introductionmentioning

confidence: 99%

The control of high-clearance electric vehicles based on pavement parameter estimations

Zhou

Wang

et al. 2018

Agricultural high-clearance vehicles are different from traditional vehicles. Agricultural vehicles have particular features that are mainly suited for the agricultural vehicle's working environment. Farmland is relatively complex, mostly unknown and unstructured environment, and it is difficult to accurately model. The complex characteristics of farmland or hilly terrain demands that the agricultural machinery on the ground environment must have sufficient robustness. In this article, a soft road high vacant land vehicle model is established, and then, through the observation of force of tyres and the use of an existing tyre model recursive least square parameter estimation, the road adhesion coefficient is obtained. Considering that the sliding mode control can effectively solve the parameter uncertain nonlinear system, the model established herein has the advantages of robustness and fast response. The sliding mode control and the incremental proportional-integral control were used to test the uniform pavement and the separate pavement, respectively, and the results showed that the sliding mode control was closer to the target value than the incremental proportional-integral control but was less stable than the incremental proportional-integral control on the uniform road surface; in addition, the sliding mode control was superior to the incremental proportional-integral control on the separate road surface.

“…[1][2][3] Among these fast integrated satellites, plug-and-play satellite is one of the most significant application examples which has attracted considerable research attention. 4 However, in practical control systems, model uncertainty and nonlinearity, inertial uncertainty, external disturbance, control signal delay, and other constraints always exist inevitably, [5][6][7][8][9] and actuator alignment errors also occur frequently due to finite-manufacturing tolerance or warping of spacecraft structure. 10 These phenomena may degrade the performances of the spacecraft control systems, and thus, a variety of designed approaches have been developed to investigate robust control design problems.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant sliding mode attitude tracking control for flexible spacecraft with disturbance and modeling uncertainty

Cao

Yue

Liu

2017

This article investigates the attitude tracking control problem for a class of flexible spacecraft with a redundant four reaction wheels' setting. In this study, inertia uncertainties, external disturbance, wheel torque saturation, and configuration misalignment are taken into account simultaneously. Two types of sliding mode controllers are presented to solve this design problem. First, supposing the norm upper bound of external disturbances, bounds of inertia, and input uncertainties are available, a terminal sliding mode attitude tracking control strategy is developed, where the controller and steering laws are synthesized together. Second, supposing these norm upper bounds are unavailable, an adaptive control law is designed to cope with attitude tracking problem. Under both control schemes, the system trajectory can be ensured to arrive on the specified sliding surface in finite time. Finally, an illustrative example is given to verify the effectiveness of the proposed attitude tracking control methodologies.