Adaptive robust control for Pendubot with matched–mismatched uncertainty via constraint-following
The study presents an adaptive robust control method for the Pendubot subjects to matched and mismatched uncertainty. First, the control task is formatted as a reduced-dimension equality constraint of the system states. To handle the matched and mismatched uncertainties, an orthogonal decomposition...
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| Published in | Robotica Vol. 41; no. 5; pp. 1550 - 1567 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Cambridge, UK
Cambridge University Press
01.05.2023
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| Abstract | The study presents an adaptive robust control method for the Pendubot subjects to matched and mismatched uncertainty. First, the control task is formatted as a reduced-dimension equality constraint of the system states. To handle the matched and mismatched uncertainties, an orthogonal decomposition method is employed to make the mismatched part disappear after decomposition. Based on the above, an adaptive robust control law based on constraint-following is devised. By the Lyapunov approach, it is rigorously proven that the proposed approach ensures the uniform boundedness and uniform ultimate boundedness of the closed-loop control system and thus renders approximate constraint-following, regardless of uncertainty. Simulation and experimental results are provided and discussed, demonstrating the good performance of the proposed approach. |
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| AbstractList | The study presents an adaptive robust control method for the Pendubot subjects to matched and mismatched uncertainty. First, the control task is formatted as a reduced-dimension equality constraint of the system states. To handle the matched and mismatched uncertainties, an orthogonal decomposition method is employed to make the mismatched part disappear after decomposition. Based on the above, an adaptive robust control law based on constraint-following is devised. By the Lyapunov approach, it is rigorously proven that the proposed approach ensures the uniform boundedness and uniform ultimate boundedness of the closed-loop control system and thus renders approximate constraint-following, regardless of uncertainty. Simulation and experimental results are provided and discussed, demonstrating the good performance of the proposed approach. |
| Author | Chen, Ye-Hwa Chai, Tianyou Wei, Cui Fu, Jun |
| Author_xml | – sequence: 1 givenname: Cui orcidid: 0000-0002-4513-0875 surname: Wei fullname: Wei, Cui email: cwei@njtech.edu.cn organization: 1Institute of Intelligent Manufacturing, Nanjing Tech University, Nanjing 210009, China – sequence: 2 givenname: Ye-Hwa surname: Chen fullname: Chen, Ye-Hwa organization: 2George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA – sequence: 3 givenname: Tianyou surname: Chai fullname: Chai, Tianyou organization: 3State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China – sequence: 4 givenname: Jun surname: Fu fullname: Fu, Jun organization: 3State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China |
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| Cites_doi | 10.1109/TRO.2009.2022427 10.1109/TCST.2013.2255290 10.1109/TIE.2019.2931242 10.1115/1.4043112 10.1017/S0263574720000053 10.1007/s11071-018-4721-0 10.1109/TAES.2018.2849904 10.1017/S0263574722000601 10.1109/TRO.2015.2402512 10.1109/9.847110 10.1109/TSMC.2021.3129798 10.1017/S0263574714002951 10.1109/TIE.2021.3065621 10.1109/TIE.2013.2262747 10.1109/TAC.1981.1102785 10.1109/TIE.2021.3055159 10.1080/00207178608933559 10.1016/j.ins.2020.02.033 10.1109/TCST.2018.2862861 10.1017/S0263574720001125 |
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| Keywords | matched–mismatched uncertainty adaptive robust control Pendubot underactuated constraint-following |
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| Snippet | The study presents an adaptive robust control method for the Pendubot subjects to matched and mismatched uncertainty. First, the control task is formatted as a... |
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| SubjectTerms | Adaptive control Closed loops Constraints Control methods Control tasks Control theory Decomposition Emerging Topics of Advanced Robotics and Mechatronics Energy consumption Feedback control Friction Neural networks Robust control Uncertainty |
| Title | Adaptive robust control for Pendubot with matched–mismatched uncertainty via constraint-following |
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