A mechanical system is required to obey a set of constraints. The tools accomplish this performance requirement are servo controls1 that is, the controls generate appropriate constraint force. In article, control design problem for constraint-following thoroughly discussed. formulated as an algebraic setting in which second order adopted. solution problem, whose projection subspace used ensure conformation constraint. complete provided analytical form. It shown environmentally constrained...

This paper proposes a novel ten-phase fault-tolerant permanent-magnet synchronous motor (FTPMSM) with two stators and rotors on the same shaft. Furthermore, concentrated, single-layer, alternate-teeth-wound winding is adopted to enhance fault isolation capacity of motor. In addition, we propose new approach speed control developed motor, which takes electromagnetic torque ripple in switch process into account. The can guarantee uniform boundedness ultimate system regardless load disturbance...

The so-called piezomechanics contain three parts: piezoelectric translator, carriage mechanism, and control system. It is well known that have drawbacks: (1) it should only be loaded axially; (2) contains a hysteresis feature; (3) its expansion dependent on temperature. first drawback tackled by the design of mechanism. This paper focuses dealing with second third drawbacks using an intelligent variable-structure control. First, neural network employed to learn dynamics piezomechanism....

A new approach to the control design for fuzzy dynamical systems is proposed. For a system, uncertainty lies within set. The desirable system performance twofold: one deterministic and fuzzy. While assures bottom line, enhances cost consideration. Under this setting, class of robust controls not if-then rules-based. An optimal problem associated with then formulated as constrained optimization problem. We show that can be solved solution exists unique. closed-form are explicitly shown....

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...

This article proposes a novel robust control design for mechanical systems based on constraint following and multivariable optimization. The state of the concerned system is affected by (possibly fast) time-varying bounded uncertainty. objective to drive obey set prescribed constraints. A β-measure defined gauge constraint-following error; which, feedback scheme, which invokes parameters, proposed. For seeking optimal constrained optimization problem formulated. successfully solved: with...

This article proposes an adaptive robust formation control scheme for the connected and autonomous vehicle (CAV) swarm system by utilizing property, diffeomorphism transformation, constraint following. The design is processed starting from a 2-D dynamics model with (possibly fast) time varying but bounded uncertainty. uncertainty bounds are unknown. For compact formation, CAV treated as artificial system, which ideal performance taken desired constraint. By this, converted into problem of...

The control design problem for a class of constrained uncertain systems is considered in this paper. uncertainty the system, including unknown system parameters and external disturbance, nonlinear time-varying. bound described via fuzzy set. states are to be bounded. A one-to-one state transformation proposed convert bounded into unconstrained system. new robust scheme then transformed which deterministic form not if-then rule based. By description bound, optimal gain proposed, minimizes...

The control problem for a mechanical system to follow constraint is formulated. uncertainty considered in both the dynamics and constraint. It bounded, knowledge of bound only lies within fuzzy set. We propose an adaptive robust approximate constraint-following. Both model scheme are deterministic not if-then heuristic rules-based. An optimal design using description proposed. prove that global solution resulting optimization always exists unique. Under control, performance deterministically...

To enhance the reliability of fault-tolerant permanent-magnet synchronous motor (FTPMSM) drives, a new sensorless control based on robust observer, nonorthogonal phase-locked loop (PLL), and variable phase delay compensation is proposed, which can guarantee medium- high-speed performance for FTPMSM even in open-circuit short-circuit fault conditions. A observer proposed to achieve any two healthy back electromotive force (EMF) estimation, regardless parameter variation, external disturbance,...

This article explores an adaptive robust control scheme for satellite formation-containment flying in a way of constraint following. For safe flight and uncertainty suppression, both collision avoidance suppression are addressed. First, (possibly fast) time-varying but bounded is considered, then law proposed to estimate the comprehensive bounds online. Second, problem with converted into another constraint-following by taking objectives avoidance, formation, containment, respectively, as...

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...

In this article, the uncertain system parameters and disturbances are considered described by fuzzy sets theory. Then, a new form of robust control is designed for dynamical systems. The proved to be uniformly bounded ultimately according Lyapunov approach. To seek better performance lower cost, an optimization problem with multi formulated. A two-level game structure proposed find optimal solution. First, generalized Stackelberg theory applied when there one leader two followers. Nash...

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...