The trajectory tracking control performance of nonholonomic wheeled mobile robots (NWMRs) is subject to constraints, system uncertainties, and external disturbances. This paper proposes a barrier function-based adaptive sliding mode (BFASMC) method provide high-precision, fast-response robustness for NWMRs. Compared with the conventional control, proposed strategy can guarantee that variables converge predefined neighborhood origin reaching time independent prior knowledge uncertainties...

In view of the urgent need for intelligent rehabilitation equipment some disabled people, an intelligent, upper limb training robot is designed by applying theories artificial intelligence, information, control, human-machine engineering, and more. A new structure proposed that combines use a flexible rope with exoskeleton. By introducing environmentally ergonomics, combined virtual reality, multi-channel information fusion interaction technology big-data analysis, collaborative, efficient,...

This article proposed a novel optimal robust control design approach to solve the uncertain parameter problem in permanent magnet synchronous motor (PMSM) system by integrating fuzzy set theory and theory. First, we adopt prescribed number describe time-varying but bounded PMSM system. Second, based on estimated bound of nominal dynamical model, deterministic scheme characterized model-based feedback control. The objective is guarantee with parameters satisfies desired motion equation...

This article proposes a novel Stackelberg-game-oriented optimal control approach to address the bounded constraint-following problem for uncertain mechanical systems. First, uncertainties (possibly fast time-varying) in system are assumed be with an unknown boundary, which lies specified fuzzy evidence number. In practical engineering, performance is always demanded, such as inequality constraint. A diffeomorphism transformation proposed transform constrained into restructured one satisfying...

Compared with traditional cloud computing technology, fog provides lower latency services in the next generation mobile networks. However, imbalance of workloads and resources among Fog Nodes (FNs) restricts further promotion network service quality. In this paper, considering resource sharing FNs by cooperation where are as agents, we propose a distributed multi-agent cooperative (DMCRS) algorithm to minimize average network. Firstly, problem is formulated convex optimization convexity...

Abstract This article proposes a novel Nash game‐theoretical optimal adaptive robust control design approach to address the constraint‐following problem for uncertain underactuated mechanical systems with fuzzy evidence theory. First, uncertainty is considered bounded and bound unknown but lies in specified number. Second, deterministic scheme proposed based on servo constraint following method, which renders system follow constraints accurately performance (guarantee uniform boundedness...

Abstract This article presents a novel optimal constraint‐following controller for uncertain mechanical systems (MSs). The MS's uncertainty is unknown (possibly time‐varying) and bounded, but the bound unspecified. Employing frame of Udwadia–Kalaba theory, we design robust with two tunable control gains MSs, which guarantees some deterministic performances. Assuming constraints to be holonomic periodic, transform controlled MSs introduce an iterative feedback tuning method optimizing...

The mobility of the nodes may cause route failures frequently in SDN-based ad hoc networks. Routes interruption causes Quality Service (QoS) users can't be satisfied, as well leading performance wireless mobile network to degrade. In this paper, a QoS sensitive routing algorithm with link quality prediction (QSRLQP) is proposed. includes two parts, which based on XGBoost (LQPXGB) and routes generation minimum cost tree (RGMCT). LQPXGB uses interior point method optimize leaf node score each...

Fog networks with energy harvesting can extend the scope of services for users in time and space remarkably. However, imbalance harvested renewable workloads fog nodes (FNs) limits performance whole computing system. This paper investigates on resource allocation cooperation enabled networks, where FNs are connected a smart grid be transferred between FNs. Firstly, an optimization problem is formulated to minimize service latency system proved convex. After that, cooperative graph-based...

The trajectory tracking control performance of the wheeled mobile robot (WMR) is subject to position constraints, system uncertainties, and external disturbances. This paper explores mechanism constraints (equality inequality) considers uncertainties be time-varying but bounded with fuzzy prescribed bounds. To solve problems, a cooperative game-oriented optimal robust method proposed provide high-precision, fast-response robustness for WMR. First, creative diffeomorphism transformation...