This paper solves the robust control problem of robotic manipulator systems with uncertain dynamics by friction compensation approach. A weighting factor is introduced to distinguish the role of friction in control pr...This paper solves the robust control problem of robotic manipulator systems with uncertain dynamics by friction compensation approach. A weighting factor is introduced to distinguish the role of friction in control process by comparing the directions of sliding vector and friction. Utilizing the weighting factor, model-based and model-free adaptive friction compensation controllers are designed to achieve asymptotical tracking of the desired joint-space trajectory according to the knowledge of friction. The damping property of friction is fully used to improve the control performance by compensating the friction harmful for the stability, and on the other hand, utilizing the beneficial friction. Numerical simulations are given to demonstrate the control performance of the proposed approach.展开更多
This paper investigates the pinning synchronization of a group of coupled oscillators,where both the dissipative and restorative interactions are taken into consideration.The paired coupling topologies are introduced ...This paper investigates the pinning synchronization of a group of coupled oscillators,where both the dissipative and restorative interactions are taken into consideration.The paired coupling topologies are introduced to capture this feature of the dynamics.To realize the synchronization of the coupled oscillators,the pinning control is introduced,and two pinning criteria are proposed to ensure the synchronization.Both these two proposed criteria provide sufficient and necessary conditions for pinning synchronization of the coupled oscillators with paired topologies.Simulation examples are illustrated to verify the proposed theoretical results.展开更多
基金the National Natural Science Foundation of China(Grant Nos.11932003,U1713223,62003013 and 61673026)the National Key R&D Program of China(Grant No.2018AAA0102703)the China Postdoctoral Science Foundation(Grant Nos.BX20190025 and2019M660405)。
文摘This paper solves the robust control problem of robotic manipulator systems with uncertain dynamics by friction compensation approach. A weighting factor is introduced to distinguish the role of friction in control process by comparing the directions of sliding vector and friction. Utilizing the weighting factor, model-based and model-free adaptive friction compensation controllers are designed to achieve asymptotical tracking of the desired joint-space trajectory according to the knowledge of friction. The damping property of friction is fully used to improve the control performance by compensating the friction harmful for the stability, and on the other hand, utilizing the beneficial friction. Numerical simulations are given to demonstrate the control performance of the proposed approach.
基金supported by the National Natural Science Foundation of China under Grant Nos.62073079and 61903083the Natural Science Foundation of Jiangsu Province of China under Grant No.BK20190333+2 种基金the Six Talent Peaks of Jiangsu Province under Grant No.2019-DZXX-006the Australian Research Council under Grant No.DP200101199the Fundamental Research Funds for the Central Universities under Grant No.2242021R41116。
文摘This paper investigates the pinning synchronization of a group of coupled oscillators,where both the dissipative and restorative interactions are taken into consideration.The paired coupling topologies are introduced to capture this feature of the dynamics.To realize the synchronization of the coupled oscillators,the pinning control is introduced,and two pinning criteria are proposed to ensure the synchronization.Both these two proposed criteria provide sufficient and necessary conditions for pinning synchronization of the coupled oscillators with paired topologies.Simulation examples are illustrated to verify the proposed theoretical results.
