This paper addresses the problem of robust adaptive control for robotic systems with model uncertainty and input time-varying delay. The Hamiltonian method is applied to develop the stabilization results of the roboti...This paper addresses the problem of robust adaptive control for robotic systems with model uncertainty and input time-varying delay. The Hamiltonian method is applied to develop the stabilization results of the robotic systems. Firstly, with the idea of shaping potential energy and the pre-feedback skill, the n degree-of-freedom(DOF) uncertain robotic systems are realized as an augmented dissipative Hamiltonian formulation with delay.Secondly, based on the obtained Hamiltonian system formulation and by using of the Lyapunov-Krasovskii(L-K) functional method, an adaptive controller is designed to show that the robotic systems can be asymptotically stabilized depending on the input delay. Meanwhile, some sufficient conditions are spelt out to guarantee the rationality and validity of the proposed control law. Finally, study of an illustrative example with simulations shows that the controller obtained in this paper works very well in handling uncertainties and input delay in the robotic systems.展开更多
This paper considers the problem of delay-dependent robust stability for uncertain systems with interval time-varying delays. By using the direct Lyapunov method, a new Lyapunov-Krasovskii(L-K) functional is introduce...This paper considers the problem of delay-dependent robust stability for uncertain systems with interval time-varying delays. By using the direct Lyapunov method, a new Lyapunov-Krasovskii(L-K) functional is introduced based on decomposition approach, when dealing with the time derivative of L-K functional, a new tight integral inequality is adopted for bounding the cross terms. Then, a new less conservative delay-dependent stability criterion is formulated in terms of linear matrix inequalities(LMIs),which can be easily solved by optimization algorithms. Numerical examples are given to show the effectiveness and the benefits of the proposed method.展开更多
基金supported by the National Natural Science Foundation of China(61703232)the Natural Science Foundation of Shandong Province(ZR2017MF068,ZR2017QF013)
文摘This paper addresses the problem of robust adaptive control for robotic systems with model uncertainty and input time-varying delay. The Hamiltonian method is applied to develop the stabilization results of the robotic systems. Firstly, with the idea of shaping potential energy and the pre-feedback skill, the n degree-of-freedom(DOF) uncertain robotic systems are realized as an augmented dissipative Hamiltonian formulation with delay.Secondly, based on the obtained Hamiltonian system formulation and by using of the Lyapunov-Krasovskii(L-K) functional method, an adaptive controller is designed to show that the robotic systems can be asymptotically stabilized depending on the input delay. Meanwhile, some sufficient conditions are spelt out to guarantee the rationality and validity of the proposed control law. Finally, study of an illustrative example with simulations shows that the controller obtained in this paper works very well in handling uncertainties and input delay in the robotic systems.
基金supported by National Natural Science Foundation of China(No.61074072)
文摘This paper considers the problem of delay-dependent robust stability for uncertain systems with interval time-varying delays. By using the direct Lyapunov method, a new Lyapunov-Krasovskii(L-K) functional is introduced based on decomposition approach, when dealing with the time derivative of L-K functional, a new tight integral inequality is adopted for bounding the cross terms. Then, a new less conservative delay-dependent stability criterion is formulated in terms of linear matrix inequalities(LMIs),which can be easily solved by optimization algorithms. Numerical examples are given to show the effectiveness and the benefits of the proposed method.
