A5016989400- Adaptive Control of Nonlinear Systems
- Iterative Learning Control Systems
- Advanced Control Systems Optimization
- Control and Dynamics of Mobile Robots
- Dynamics and Control of Mechanical Systems
- Extremum Seeking Control Systems
- Teleoperation and Haptic Systems
- Hydraulic and Pneumatic Systems
Northeastern University
2023-2024
Abstract A fast convergent non‐singular terminal sliding mode adaptive control law based on prescribed performance is formulated to solve the uncertainties and external disturbances of robot manipulators. First, tracking error manipulators transformed by using function, which improves transient behaviors steady‐state accuracy Then, a novel surface brought up according error, derived meet stability requirements In practice, upper boundary lumped cannot be accurately obtained. Therefore, an...
Summary A novel integral sliding mode control (ISMC) strategy combined with an adaptive super twisting observer (ASTO) for uncertain robotic manipulator tracking system is presented in this article. The comprehensive uncertainties including both parameter perturbations and external disturbances are considered during the controller design. Firstly, a new nominal law prescribed time convergent property based on varying scaling function without uncertainties. Then constitutes surface ISMC. As...
This paper investigates the finite-time disturbance estimation and tracking control for robotic manipulators subjected to model perturbation external disturbance. First, an adaptive sliding mode observer (ASMDO) is raised estimate lumped uncertainties, which does not need consider upper boundary prior knowledge of uncertainties’ derivative, excessive gain coefficients are avoided, meanwhile, decrease chattering phenomenon. Next, a prescribed performance (FPPC) established guarantee system...
Abstract This paper addresses the problem of robust and high precision trajectory tracking control uncertain robot manipulators with prescribed performance. Time delay estimation (TDE) technique is employed to estimate system model, then a new self‐adjusting strategy (SAS) designed adjust TDE gain online. Prescribed performance (PPC) method used guarantee transient response speed steady‐state accuracy. Moreover, transform function PPC in this has unlimited domain, which greatly improves...
This paper investigates the challenging problem of fixed time trajectory tracking for robotic manipulators under presence unavailable model perturbation, external disturbance and from different initial states. Firstly, a novel fixed-time extended state observer (FESO) is designed to estimate compensate lumped disturbance, which analyzed proved be stable in sense bounded stability. Secondly, new type prescribed performance control (FPPC) constructed guarantee system convergences within...
This paper investigates the high-precision model-free control of robot manipulators. To this end, a robust prescribed performance controller with an improved fast nonsingular terminal sliding mode surface (IFNTSM) and unknown system dynamics estimator (USDE) has been designed. An USDE method is employed to estimate model informations further achieve control, which can avoid complex mathematical calculation. Compared some other methods like time-delay (TDC) neural-networks (NNC), USED does...
Aim to solve the problem of over-dependence on dynamics model and low tracking accuracy robotic manipulators under uncertainties backlash hysteresis, an adaptive continuous nonsingular fast terminal sliding mode controller combining time delay estimation (TDE) prescribed performance control (PPC) is formulated. Firstly, TDE applied estimate information external disturbances, so that simplified into a local model. Then, established based PPC, which solves singularity traditional improves...