In this paper, we propose a fuzzy approach for optimal robust control design of an automotive electronic throttle (ET) system. Compared with the conventional ET systems, establish dynamical model system parameter uncertainties, nonlinearities, and external disturbances, which may be nonlinear, (possibly fast) time varying. These uncertainties are assumed to bounded, knowledge bound only lies within prescribed set. A that is deterministic not usual if-then rules-based presented guarantee...

The inequality constraints, system nonlinearities, parameter uncertainties, and external disturbances are always unavoidable in practical mechanical systems. This article proposes an adaptive robust control (ARC) algorithm from the view of servo constraint following to tackle problem systems subject above factors. For a creative diffeomorphism which could convert two-sided bounded state variables unbounded ones is explored, render transformed nonlinear free constraints. leakage-type ARC...

Abstract The paper presents a novel control method aimed at enhancing the trajectory tracking accuracy of two-link mechanical systems, particularly nonlinear systems that incorporate uncertainties such as time-varying parameters and external disturbances. Leveraging Udwadia–Kalaba equation, algorithm employs desired system servo constraint. First, system’s constraints to construct its dynamic equation apply generalized from constraint an unconstrained system. Second, we design robust...

ABSTRACT A robust approximate constraint‐following control (RACC) approach is proposed in this article for collaborative robots with inequality constraints. The trajectory‐following and boundary of the robot are investigated. First, an explicit constraint equation system established based on Udwadia–Kalaba (U‐K) theory. Second, due to monotone unbounded property tangent function, a special function constructed transform joint output angles constrained into unconstrained state variables, new...

A novel robust control strategy is proposed in this work to address the dynamic problem of permanent magnet synchronous motors (PMSM) position tracking and lessen effect system parameter load fluctuations on performance PMSM. The improved by a element built with Lyapunov method reduce impact uncertain factors such as uncertainty, nonlinear friction, external interference; nominal stabilized dynamics model. uniformly bounded final systems are proven, associated conclusions provided using...

The main objective of this article is to address the position tracking control problem for permanent magnet linear motor by using a novel model-based robust method. Specifically, based on assumed upper bound lumped model uncertainties and external disturbances, we design nonlinear algorithm, which characterized error-based inheriting from traditional proportional-integral-derivative (PID) control. proposed can be considered as an improved PID or redesigned control, with simple implementation...

This paper focuses on the problem of adaptive robust control a lower limbs rehabilitation robot (LLRR) that is nonlinear system running under passive training mode. In reality, uncertainties including modeling error, initial condition deviation, friction force and other unknown external disturbances always exist in LLRR system. So, it necessary to consider unilateral man-machine dynamical model we described. model, are (possibly fast) time-varying bounded. However, bounds unknown. Based...

While designing control for a class of underactuated mechanical systems (UMSs), the uncertainty and prescribed nonholonomic tracking trajectories should be taken into consideration. Uncertainty considered in this article is time varying bounded, bound described using fuzzy set theory, namely, UMSs. An analytical dynamics-based view which are viewed as servo constraints can linear, nonlinear, holonomic, nonholonomic. Using view, novel closed form solution adaptive robust found with leakage...

This article investigates the trajectory tracking problem of underactuated mechanical systems (UMSs) with companion nonholonomic servo constraints and uncertainties. For such motion tasks, existing approaches in literature attempt unrealistically to furnish a reliable closed-form solution, rendering it difficult have high-quality performance theoretical support. In addition, uncertainties typically pose substantial difficulty controller synthesis. Here, by invoking methodology fuzzy sets,...

In this article, we apply a high-order control to dynamical system with uncertainty. There are two characteristics. First, the uncertain part, which is time-varying but bounded, described in fuzzy aspect. Specifically, uncertainty lies within set and bound regarded as number. Second, systems uniformly bounded ultimately deterministic controller based on Lyapunov theory. To obtain better performance lower input, noncooperative game theory optimize parameters by establishing Nash game. Then,...

This paper studies a prescribed performance adaptive robust control (PPARC) scheme for uncertain robotic manipulators. First, state transformation is introduced to embed the predefined output constraints into trajectory tracking servo constraints. Second, PPARC designed fulfill reference and ensure errors within regardless of uncertainty initial condition deviations. Then, Lyapunov stability analysis conducted prove uniform boundedness (UB) ultimate (UUB) error. Moreover, optimization...

Dear Editor, This letter is about an automated guided vehicle (AGV) trajectory tracking control method based on Udwadia-Kalaba (U-K) approach. provides a novel, concise and explicit motion equation for constrained mechanical systems with holonomic and/or nonholonomic constraints as well that may be ideal or non-ideal. In this letter, are classified into structural performance constraints. The established without considering the control, dynamic model built them. Then expected trajectories...

This article addresses the problems of adaptive robust control design and parameters optimization for a class underactuated mechanical systems. We describe uncertainty by using fuzzy set theory to form dynamical A novel with two tunable gain is designed based on formed system, nonholonomic servo constraints are also considered in design. By employing principle Nash game theory, we establish an method parameters, equilibrium orients optimal values parameters. Finally, effectiveness shown...

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...

Abstract In order to decrease the influence of system parameters and load on dynamic performance permanent magnet synchronous motor (PMSM) in cooperative robot joint modules, a practical model-based robust control method was proposed. It inherits traditional proportional-integral-derivative (PID) based error control. We first set up nominal controller using dynamics model. limit uncertainty performance, is established Lyapunov method. The can be regarded as an improved PID or redesigned...