期刊文献+
共找到4,576篇文章
< 1 2 229 >
每页显示 20 50 100
Adaptive Robust Control with Leakage-Type Control Law for Trajectory Tracking of Exoskeleton Robots
1
作者 Jin Tian Xiulai Wang +1 位作者 Ningling Ma Yutao Zhang 《Advances in Internet of Things》 2024年第3期53-66,共14页
This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accuratel... This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller. 展开更多
关键词 Trajectory Tracking adaptive robust control Exoskeleton robots UNCERTAINTIES
下载PDF
FUZZY ADAPTIVE CONTROL OF FLEXIBLE-LINK ROBOT MANIPULATOR 被引量:1
2
作者 倪受东 吴洪涛 +1 位作者 袁祖强 嵇海平 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2004年第3期200-205,共6页
A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip ... A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip position. The Lagrangian principle is utilized to model the dynamic function of the single-degree flexible manipulator incorporating the assumed modes method. Simulation results of the fuzzy adaptive control method in the location control and the trajectory tracking with different tip disturbances are presented and compared with the results of the classic PD control. It shows that the controller can obtain the stable and robust performance. 展开更多
关键词 flexible robot manipulator Lagrangian function assumed mode method fuzzy adaptive control
下载PDF
Robust adaptive control for a nonholonomic mobile robot with unknown parameters 被引量:9
3
作者 Jinbo WU Guohua XU Zhouping YIN 《控制理论与应用(英文版)》 EI 2009年第2期212-218,共7页
A robust adaptive controller for a nonholonomic mobile robot with unknown kinematic and dynamic parameters is proposed. A kinematic controller whose output is the input of the relevant dynamic controller is provided b... A robust adaptive controller for a nonholonomic mobile robot with unknown kinematic and dynamic parameters is proposed. A kinematic controller whose output is the input of the relevant dynamic controller is provided by using the concept of backstepping. An adaptive algorithm is developed in the kinematic controller to approximate the unknown kinematic parameters, and a simple single-layer neural network is used to express the highly nonlinear robot dynamics in terms of the known and unknown parameters. In order to attenuate the effects of the uncertainties and disturbances on tracking performance, a sliding mode control term is added to the dynamic controller. In the deterministic design of feedback controllers for the uncertain dynamic systems, upper bounds on the norm of the uncertainties are an important clue to guarantee the stability of the closed-loop system. However, sometimes these upper bounds may not be easily obtained because of the complexity of the structure of the uncertainties. Thereby, simple adaptation laws are proposed to approximate upper bounds on the norm of the uncertainties to address this problem. The stability of the proposed control system is shown through the Lyapunov method. Lastly, a design example for a mobile robot with two actuated wheels is provided and the feasibility of the controller is demonstrated by numerical simulations. 展开更多
关键词 Nonholonomic constraints Mobile robot Sliding mode control adaptive control robustNESS Neural network
下载PDF
Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach 被引量:1
4
作者 Yunjun Zheng Jinchuan Zheng +3 位作者 Ke Shao Han Zhao Hao Xie Hai Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第4期1007-1021,共15页
The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-base... The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances. 展开更多
关键词 adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control
下载PDF
Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters 被引量:20
5
作者 Ying-Hong Jia Quan Hu Shi-Jie Xu 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2014年第1期112-124,共13页
A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro... A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane's equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov's method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach. 展开更多
关键词 Space robot Dynamics. adaptive control Closed-loop constraint Parameter uncertainty - Kane's equation
下载PDF
Nonlinear robust adaptive control for bidirectional stabilization system of all-electric tank with unknown actuator backlash compensation and disturbance estimation
6
作者 Shusen Yuan Wenxiang Deng +1 位作者 Jianyong Yao Guolai Yang 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2024年第2期144-158,共15页
Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate trackin... Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach. 展开更多
关键词 Bidirectional stabilization system robust control adaptive control Backlash inverse Disturbance estimation
下载PDF
Compliant landing of a trotting quadruped robot based on hybrid motion/force robust control 被引量:2
7
作者 郎琳 王剑 +1 位作者 韦庆 马宏绪 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第8期1970-1980,共11页
A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landi... A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods. 展开更多
关键词 trotting quadruped robots compliant landing joint torque optimization quadratic programming(QP) hybrid motion/force robust control
下载PDF
Novel Adaptive Memory Event-Triggered-Based Fuzzy Robust Control for Nonlinear Networked Systems via the Differential Evolution Algorithm
8
作者 Wei Qian Yanmin Wu Bo Shen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第8期1836-1848,共13页
This article mainly investigates the fuzzy optimization robust control issue for nonlinear networked systems characterized by the interval type-2(IT2)fuzzy technique under a differential evolution algorithm.To provide... This article mainly investigates the fuzzy optimization robust control issue for nonlinear networked systems characterized by the interval type-2(IT2)fuzzy technique under a differential evolution algorithm.To provide a more reasonable utilization of the constrained communication channel,a novel adaptive memory event-triggered(AMET)mechanism is developed,where two event-triggered thresholds can be dynamically adjusted in the light of the current system information and the transmitted historical data.Sufficient conditions with less conservative design of the fuzzy imperfect premise matching(IPM)controller are presented by introducing the Wirtinger-based integral inequality,the information of membership functions(MFs)and slack matrices.Subsequently,under the IPM policy,a new MFs intelligent optimization technique that takes advantage of the differential evolution algorithm is first provided for IT2 TakagiSugeno(T-S)fuzzy systems to update the fuzzy controller MFs in real-time and achieve a better system control effect.Finally,simulation results demonstrate that the proposed control scheme can obtain better system performance in the case of using fewer communication resources. 展开更多
关键词 adaptive memory event-triggered(AMET) differential evolution algorithm fuzzy optimization robust control interval type-2(IT2)fuzzy technique.
下载PDF
A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems
9
作者 Pingfan Liu Shaocheng Tong 《Journal of Automation and Intelligence》 2024年第2期111-118,共8页
This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. ... This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach. 展开更多
关键词 Underactuated wheeled mobile robots system FINITE-TIME Fuzzy adaptive fault-tolerant control OUTPUT-FEEDBACK Intermittent actuator faults
下载PDF
Leg compliance control of a hexapod robot based on improved adaptive control in different environments 被引量:2
10
作者 朱雅光 金波 李伟 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第3期904-913,共10页
Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance c... Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot. 展开更多
关键词 hexapod robot tip-point force adaptive control fuzzy control adaptability
下载PDF
Adaptive Robust Control for a Lower Limbs Rehabilitation Robot Running Under Passive Training Mode 被引量:2
11
作者 Xiaolong Chen Han Zhao +1 位作者 Shengchao Zhen Hao Sun 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2019年第2期493-502,共10页
This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot(LLRR) that is a nonlinear system running under passive training mode. In reality, uncertainties including modeling... This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot(LLRR) that is a nonlinear system running under passive training mode. In reality, uncertainties including modeling error, initial condition deviation, friction force and other unknown external disturbances always exist in a LLRR system. So, it is necessary to consider the uncertainties in the unilateral man-machine dynamical model of the LLRR we described. In the dynamical model, uncertainties are(possibly fast) time-varying and bounded. However, the bounds are unknown. Based on the dynamical model, we design an adaptive robust control with an adaptive law that is leakagetype based and on the framework of Udwadia-Kalaba theory to compensate for the uncertainties and to realize tracking control of the LLRR. Furthermore, the effectiveness of designed control is shown with numerical simulations. 展开更多
关键词 adaptive robust control LOWER LIMBS REHABILITATION robot mechanical system PASSIVE TRAINING UNCERTAINTIES
下载PDF
Robust Adaptive Control for Robotic Systems With Input Time-Varying Delay Using Hamiltonian Method 被引量:1
12
作者 Yong Ren Weiwei Sun 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第4期852-859,共8页
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
关键词 adaptive controller Hamiltonian systems input delay Lyapunov-Krasovskii(L-K) functional robotic systems
下载PDF
Design of a Robust Adaptive Control (RAC) of Robotic Manipulators for Trajectory Tracking with Structured and Unstructured Uncertainties
13
作者 Mir Abbas Roudbari 《通讯和计算机(中英文版)》 2011年第5期361-365,共5页
关键词 鲁棒自适应控制 非结构化 轨迹跟踪 不确定性 RAC 设计 SCARA机器人 机械手
下载PDF
Robust Control Design of Wheeled Inverted Pendulum Assistant Robot 被引量:2
14
作者 Magdi S.Mahmoud Mohammad T.Nasir 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2017年第4期628-638,共11页
This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR(inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint... This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR(inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator(LQR), linear quadratic Gaussian control(LQG), H_2 control and H_∞ control. Simulation is performed for all the approaches yielding good performance results. 展开更多
关键词 I-PENTAR robot linear quadratic regulator(LQR) control design model predictive control(MPC) observerbased feedback control robust H_∞ control
下载PDF
Design of Robust Controller for Flexible Joint Robot with Nonlinear Friction Characteristics 被引量:1
15
作者 陈健 葛连正 李瑞峰 《Journal of Donghua University(English Edition)》 EI CAS 2015年第5期737-742,共6页
A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal m... A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal model in our work,based on which the describing function was analyzed in frequency domain,and the weighting function of nonlinear friction was further calculated as well. By combining the friction uncertainty,the mixed sensitivity H∞optimization was proposed as the benchmark for controller design, which also leaded to good performance of robustness. Furthermore,unstructured perturbation to the system was analyzed so that the stability was guaranteed. Simulation results show that the proposed controller can provide excellent tracking and regulation performance. 展开更多
关键词 robot joints with flexibility nonlinear friction describing function method robust control
下载PDF
Adaptive admittance tracking control for interactive robot with prescribed performance
16
作者 MENG Qingrui LIN Yan 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2024年第2期444-450,共7页
An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic perf... An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper. 展开更多
关键词 prescribed performance admittance control adaptive control robotS
下载PDF
Real-Time Discrete Adaptive Control of Robot Arm Based on Digital Signal Processing
17
作者 龙绪明 《Journal of Southwest Jiaotong University(English Edition)》 2008年第1期24-29,共6页
A discrete model reference adaptive controller of robot arm is obtained by integrating the reduced dynamic model of robot, model reference adaptive control (MRAC) and digital signal processing (DSP) computer syste... A discrete model reference adaptive controller of robot arm is obtained by integrating the reduced dynamic model of robot, model reference adaptive control (MRAC) and digital signal processing (DSP) computer system into an electromechanical system. With the DSP computer system, the control signal of each joint of the robot arm can be processed in real time and independently. The simulation and experiment results show that with the control strategy, the robot achieved a good trajectory following precision, a good decoupling performance and a high real-time adaptivity. 展开更多
关键词 robot Model reference adaptive control (MRAC) Digital signal processing (DSP) Real-time control
下载PDF
FUZZY MODEL-FOLLOWING ADAPTIVE CONTROL DESIGN FOR ROBOT MANIPULATORS
18
作者 Zhao Dongbiao Zhu Jianying (Nanjing University of Aeronautics and Astronautics) 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 1995年第2期97-103,共7页
The increasing demand on robotic system performance leads to the use of advanced con- trol strategies. This paper proposes a method of nonlinear feedback control introducing fuzzy infer- ence into model-following adap... The increasing demand on robotic system performance leads to the use of advanced con- trol strategies. This paper proposes a method of nonlinear feedback control introducing fuzzy infer- ence into model-following adaptive control for the nonlinear robot manipulator systems. The fuzzy inference is introduced to treat the nonlinearities of the control systems. Furthermore, the stability of the system is discussed by the fuzzy stability theory based on the Lyapunov's direct method. In the closed loop, the robotic system asymptotically converge to the reference trajectory with a pre- scribed transient response. 展开更多
关键词 robot manipulator Fuzzy set Model-following adaptive control
下载PDF
Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators 被引量:16
19
作者 Dong Zhang Hao Yuan Zhengcai Cao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2020年第3期745-751,共7页
This work investigates adaptive stiffness control and motion optimization of a snake-like robot with variable stiffness actuators. The robot can vary its stiffness by controlling magnetorheological fluid(MRF) around a... This work investigates adaptive stiffness control and motion optimization of a snake-like robot with variable stiffness actuators. The robot can vary its stiffness by controlling magnetorheological fluid(MRF) around actuators. In order to improve the robot's physical stability in complex environments, this work proposes an adaptive stiffness control strategy. This strategy is also useful for the robot to avoid disturbing caused by emergency situations such as collisions. In addition, to obtain optimal stiffness and reduce energy consumption, both torques of actuators and stiffness of the MRF braker are considered and optimized by using an evolutionary optimization algorithm. Simulations and experiments are conducted to verify the proposed adaptive stiffness control and optimization methods for a variable stiffness snake-like robots. 展开更多
关键词 adaptive control snake-like robot VARIABLE STIFFNESS
下载PDF
Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot 被引量:6
20
作者 Lih-Chang Lin Hao-Yin Shih 《Intelligent Control and Automation》 2013年第2期166-179,共14页
The complete dynamics model of a four-Mecanum-wheeled robot considering mass eccentricity and friction uncertainty is derived using the Lagrange’s equation. Then based on the dynamics model, a nonlinear stable adapti... The complete dynamics model of a four-Mecanum-wheeled robot considering mass eccentricity and friction uncertainty is derived using the Lagrange’s equation. Then based on the dynamics model, a nonlinear stable adaptive control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term is included in the control law, and the parameter update law with σ-modification is considered for the uncertainty estimation. Computer simulations are conducted to illustrate the suggested control approach. 展开更多
关键词 Mecanum-Wheeled Mobile robot Dynamics Model BACKSTEPPING adaptive control LYAPUNOV stability
下载PDF
上一页 1 2 229 下一页 到第
使用帮助 返回顶部