In this paper, the modeling and control problem of an overhead crane equipped with a three-dimensional (3-D) variable length flexible cable is discussed. order to achieve high performance, partial differential equation (PDE) model deduced exactly preserving frequency modes original system. For sake dealing effect input amplitude rate constraints, boundary scheme carried out drive payload desired position 3-D vibration reduction by applying backstepping technology. The exponential stability...

Previous works have developed impedance control to increase safety and improve performance in contact tasks, where the robot is physical interaction with either an environment or a human user. This article investigates learning for guided by user while interacting unknown environment. We develop automatic adaptation of parameters reduce effort required guide through environment, guaranteeing stability. For nonrepetitive this novel adaptive controller can attenuate disturbances appropriate...

Summary In this brief, paper deals with a robust adaptive iterative learning control (ILC) problem for flexible manipulator attached to moving vehicle uncertainties. To begin with, considering the infinite dimensionality of distributed parameter system, coupled ordinary differential equation and partial model is established without any discretization. Then, it followed by presentation an ILC strategy, which can drive joint desired positions based on proportional‐derivative feedback structure...

A robust adaptive control allocation algorithm with actuator failure compensation is presented in this article for a class of cascade ODE-string systems depicted by ordinary differential equations (ODEs) and partial equations. The proposed scheme including fault uniformly stabilizes the system presence faults, parameter uncertainties environmental perturbations, effectively reduces controller complexity adaptively grouping redundant actuators. Since method needs full-state measurement ODE...

In human-robot collaboration (HRC) tasks, the role of robot should be naturally and smoothly transitioned between leader follower to guarantee task performance. To realize this, arbitration shared control human needs properly designed assign a degree leadership robot. this paper, we propose fuzzy logic-based rule with help Kalman filter (KF). Based on rule, can continuously regulated zero one according interaction force velocity system intention taken into account. Besides, distance obstacle...

In this study, problems of the partial differential equation (PDE) modelling and vibration control design are first resolved for an overhead crane bridge system, which is regarded as a Timoshenko beam with attached rigid body. With established infinite‐dimensional PDE model, Nussbaum function‐based adaptive approach developed in order to settle out parametric uncertainties system unknown directions. Under proposed method, states globally bounded finally converge adjustable region zero. The...

One promising function of interactive robots is to provide a specific interaction force human users. For example, rehabilitation are expected promote patients' recovery by interacting with them prescribed force. However, motion uncertainties different individuals, which hard predict due the varying speed and noises during motion, degrade performance existing control methods. This paper proposes method learn desired reference trajectory for robot based on dynamic primitives (DMPs) iterative...

In this article, an iterative-learning-based robotic controller is developed, which aims at providing a prescribed assistance or resistance force to the human user. proposed controller, characteristic parameter of upper limb movement first learned by robot using measurable interaction force, recursive least square (RLS)-based estimator, and Adam optimization method. Then, desired trajectory can be obtained, tracking supply human's with force. Using automatically adjusts its reference embrace...

A popular path learning method is to use off-line programming by demonstration (PbD) plan a rough path, but it subjected uncertainties in the environment so needs be updated during task execution. For this purpose, spatial iterative control (sILC) developed learn an accurate through intuitive online correction based on human-robot interaction (HRI). To improve efficiency and accuracy of learning, visual assistance system added HRI, which helps robot find initial point complement error. This...

This article studies the stability problem for a three-dimensional string with variable length in case of input quantization. A nonlinear partial differential equation model is used to depict dynamic characteristics length-varying flexible distributed parameters. The control signals are effectively mapped from continuous region discrete set numerical before being transmitted through communication channels using quantizers. With no information about quantizers, vibration eliminated under...

In this paper, boundary and distributed controllers are proposed to reduce the vibration of a flexible string with external disturbance. To accurately represent string's behaviour, partial differential equations introduced for modelling. Boundary disturbance observers, which proved exponentially stable, designed compensate unknown Based on developed by linear matrix inequality asymptotic stability system is demonstrated Lyapunov's direct method. Extensive numerical simulations presented...

This paper presents a novel method for learning and tracking of the desired path human partner in physical human-robot interaction. Combining Adam optimization algorithm with iteration control (ILC), is designed to generate update reference waypoints according partner's path. firstly uses robot's an online manner. Then, ILC developed further modify reduce difference between actual iterative Simulations experiments on 7-DOF Sawyer robot are carried out show effectiveness our proposed method.

This article aims at proposing an adaptive neural control strategy for a class of nonlinear time-delay systems with input delays and unknown directions. Different from previous researches that investigated constraints separately, the novelty this lies in it simultaneously considers (state delays) (magnitude rate constraints) uncertain systems. In article, states are handled by integrating constructed auxiliary system functions as observer networks (NNs), which adverse effects caused can be...

This paper is concerned with the stabilisation problem of an Euler–Bernoulli beam uncertain parameters and disturbances. To correctly represent beam's behaviour, partial differential equations model utilised for control design without missing any high-order mode information. Then linear matrix inequalities (LMIs) method applied to robust adaptive neural network cope systematic uncertainties stabilise system disturbance compensation. Through resolving LMIs, feasible sets designed can be...

A predictive disturbance-observer-based controller (DOBC) is proposed for a class of input time-delay mechanical systems with constraints. disturbance observer developed external and proof exponential convergence estimation error provided. In the design process, integral fed back into to eliminate effect delay, method hyperbolic tangent function are firstly combined solve problem delay limit control simultaneously. The optimisation FMINCON MATLAB used obtain parameters. Control goal...