Adaptive Robust Control for Fuzzy Mechanical Systems in Confined Spaces: Nash Game Optimization Design

• Published in: IEEE transactions on fuzzy systems Vol. 32; no. 5; pp. 2863 - 2875
• Main Authors: Xian, Yuanjie, Huang, Kang, Zhu, Zicheng, Zhen, Shengchao, Chen, Ye-Hwa
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.05.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Aerospace electronics; confined space; Confined spaces; constraint; Constraint-following control; Costs; Design optimization; Flexible manufacturing systems; Fuzzy control; fuzzy set theory; Fuzzy systems; Games; Humanoid; Industrial safety; Isomorphism; Mechanical systems; Nash game; Optimization; Robot arms; Robust control; Uncertainty
• ISSN: 1063-6706; 1941-0034
• DOI: 10.1109/TFUZZ.2024.3363901

A confined space is an area in an industrial facility that has limited access and allows only restricted movement due to physical constraints. Confined spaces often require special safety precautions and may be subject to specific regulations to ensure the well-being of workers. Flexible manufacturing cells typically work in confined spaces in order to increase efficiency and decrease cost. The operation can be further complicated if uncertainty is involved. We propose an adaptive robust controller for uncertain mechanical systems in a confined space to enhance system performance while ensuring system safety. The design procedure consists of five phases: constraint-following formulation, fuzzy uncertainty prescription, diffeomorphism transformation, adaptive robust control design, and Nash game-based optimization. The effectiveness of the control scheme is demonstrated by numerical simulation experiments for a humanoid robot arm.