Tackling mismatched uncertainty in robust constraint-following control of underactuated systems

Yin, Hui; Chen, Ye‐Hwa; Huang, Jin; Lü, Hui

doi:10.1016/j.ins.2020.02.033

Cited by 38 publications

(30 citation statements)

References 39 publications

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“…As Lagrangian mechanical systems widely exist in engineering practice, the control of mechanical systems has been a hotspot issue for years. 1 In Lagrangian mechanics, the (holonomic or nonholonomic) constraints are applied to describe the system performance. 2,3 There are two kinds of constraint-following problems: the passive form and the servo form.…”

Section: Introductionmentioning

confidence: 99%

“…They are likely to affect system performance, and, therefore are something need to be addressed when designing the control of practical systems. 1 Recently, robust constraint-following control design of uncertain mechanical systems has been intensively studied. 4,[16][17][18] In the case where the bound of uncertainties is known, Song et al, 17 based on the sliding mode approach, proposed a robust motion control scheme for mechanical systems subject to nonholonomic constraints.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive constraint‐following control for uncertain nonlinear mechanical systems with measurement error

Yang

Huang

et al. 2021

Intl J Robust & Nonlinear

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This study proposes an adaptive constraint-following control scheme for an uncertain nonlinear mechanical system. The concerned system is required to follow a class of (holonomic and nonholonomic) equality constraints. Uncertainties (possibly fast time-varying) exist in the dynamics equation and the equality constraints. Meanwhile, the system contains state measurement errors. Both the uncertainties and measurement errors are assumed to be bounded.Based on Udwadia-Kalapa approach and a saturation type adaptive law, an adaptive control scheme is proposed to drive the system to follow the prescribed constraints approximately. Through Lyapunov minimax analysis, it is proved that the resulting control guarantees the uniform boundedness and uniform ultimate boundedness of the closed-loop constrained mechanical system despite the presence of the uncertainties and the measurement errors. Numerical simulations of the vehicle lateral motion control are presented. The results validate the effectiveness of the proposed methodology.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive constraint‐following control for uncertain nonlinear mechanical systems with measurement error

Yang

Huang

et al. 2021

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

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“…An optimum fuzzy combination of robust decoupled sliding mode and adaptive feedback linearization controllers has been implemented for uncertain under-actuated nonlinear systems (Mahmoodabadi & Soleymani, 2020). The tackling mismatched uncertainty has been analyzed for the robust constraint-following control of underactuated systems (Yin et al, 2020). A new optimal robust adaptive fuzzy controller has been examined for a class of non-linear under-actuated systems (M. J.…”

Section: Introductionmentioning

confidence: 99%

Optimal design of an adaptive robust proportional-integral-derivative controller based upon sliding surfaces for under-actuated dynamical systems

2021

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This paper presents a novel adaptive robust proportional-integralderivative (PID) controller for under-actuated dynamical systems via employing the advantages of the PID control and sliding surfaces. The related control gains as adjustable parameters are computed during the control process using gradient descent techniques and the chain derivative rule. Based on the design of control rules, the genetic algorithm optimization is utilized in order to find the optimal values of the learning rates and initial conditions of the control gains. The suggested strategy is implemented successfully to stabilize the cart-pole and ball-beam systems. Lastly, the simulation results demonstrate the efficacy of the proposed controller to control such under-actuated dynamical systems as well as its superiority in comparison with other recently introduced methods.

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“…When more specifics of the system characteristics and tasks are used in the design, it is generally anticipated that the control is in more coherence with the said framework. As an outstanding representative of system-task-specific control, a creative approach of constraintfollowing control is explored by Chen et al [1][2][3][4][5][6][7], which guides the design of control strategy in this paper.…”

Section: Introductionmentioning

confidence: 99%

Optimal Parameter Selection for Constraint-Following Control for Mechanical Systems Based on Stackelberg Game

Sun

Yang

Chen

et al. 2021

Preprint

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This paper proposes an optimal parameter design of control scheme for mechanical systems by adopting the Stackelberg game theory. The goal of the control is to drive the mechanical system to follow the prescribed constraints. The system uncertainty is (possibly fast) time-varying and bounded. A β-measure is defined to gauge the performance. A robust control is proposed to render the β-measure uniformly ultimately bounded. This control scheme is based on feasible design parameters (i.e., parameters within prescribed range), whose choice may not be unique. For optimal (unique) parameter selection, a Stackelberg game is formulated. By taking the control design parameters as the players, for each player, a cost function is built with the consideration of the performance cost, the time cost and the control cost. To follow, the Stackelberg strategy is then carried out via backward induction, which results in the choice of the optimal parameters.

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Tackling mismatched uncertainty in robust constraint-following control of underactuated systems

Cited by 38 publications

References 39 publications

Adaptive constraint‐following control for uncertain nonlinear mechanical systems with measurement error

Adaptive constraint‐following control for uncertain nonlinear mechanical systems with measurement error

Optimal design of an adaptive robust proportional-integral-derivative controller based upon sliding surfaces for under-actuated dynamical systems

Optimal Parameter Selection for Constraint-Following Control for Mechanical Systems Based on Stackelberg Game

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