An adaptive finite‐time stable control law for manipulator robots with unknown parameters

2021 ◽  
Author(s):  
Oussama Boutalbi ◽  
Khier Benmahammed ◽  
Boualem Boukezata
Keyword(s):  
Finite Time ◽  
Control Law ◽  
Unknown Parameters ◽  
Stable Control

Finite-Time Chaos Control and Synchronization of the New Chaotic System with Unknown Parameters

2012 ◽  
Vol 187 ◽  
pp. 115-121
Author(s):  
Ke E Li ◽  
Yu Hua Xu
Keyword(s):  
Chaotic System ◽  
Finite Time ◽  
Chaos Control ◽  
Time Synchronization ◽  
Control Law ◽  
Unknown Parameters ◽  
Finite Time Stability ◽  
Parameter Update Law ◽  
New Chaotic System ◽  
Control And Synchronization

In this paper, a new chaotic system is discussed. Some basic dynamical properties are studied , and we also deal with the finite-time chaos control and synchronization of the new chaotic system. Based on the finite-time stability theory, the control law are proposed to drive chaos to equilibria within finite time, and the control law and the parameter update law are proposed to realize finite-time synchronization of the new chaotic system under unknown parameters. The controller is simple and robust to noise. Numerical simulations are given to show the effectiveness of the proposed controllers.

Finite-time stability control of an electric vehicle under tyre blowout

2018 ◽  
Vol 41 (5) ◽  
pp. 1395-1404 ◽  
Author(s):  
Qinghua Meng ◽  
Chunjiang Qian ◽  
Zong-Yao Sun
Keyword(s):  
Electric Vehicle ◽  
Output Feedback ◽  
Finite Time ◽  
State Space Model ◽  
Stability Control ◽  
Feedback Controller ◽  
State Feedback Control ◽  
Control Law ◽  
Unknown Parameters ◽  
Output Feedback Controller

In this paper, the authors consider the problem of tyre blowout control via output feedback for an electric vehicle (EV) driven by four in-wheel motors to reduce fatal damage. First, an EV dynamic model in the case of a tyre blowout is established. The model considers the unmeasurable state, unknown added front wheel steering angle generated by a tyre blowout and uncertain external disturbances. Second, to address the difficulties in estimating the unmeasurable state, unknown parameters and disturbances for the EV, a finite-time observer is introduced. Then, by introducing a coordinate transformation, the state-space model of an EV with tyre blowout is converted into a simple form for which a state feedback control law is constructed by adding a power integrator method. Combining the finite-time observer with the finite-time control law, an output feedback controller is designed to stabilize the EV when a tyre bursts. A torque allocation method is also given to operate every wheel except the burst tyre to stabilize and stop the EV. Finally, computer simulations are given to validate the proposed finite-time output feedback controller for the EV tyre blowout control.

Finite-time control of uncertain time-varying systems in p-normal form

2020 ◽  
Author(s):  
Kanya Rattanamongkhonkun ◽  
Radom Pongvuthithum ◽  
Chulin Likasiri
Keyword(s):  
Normal Form ◽  
Finite Time ◽  
Control Law ◽  
Time Varying ◽  
Time Control ◽  
Special Cases ◽  
Time Varying Systems ◽  
A Chain ◽  
Uncertain Time ◽  
Power Integrator

Abstract This paper addresses a finite-time regulation problem for time-varying nonlinear systems in p-normal form. This class of time-varying systems includes a well-known lower-triangular system and a chain of power integrator systems as special cases. No growth condition on time-varying uncertainties is imposed. The control law can guarantee that all closed-loop trajectories are bounded and well defined. Furthermore, all states converge to zero in finite time.

scholarly journals Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Shen Xu ◽  
Lulu Chu ◽  
Fei Tong ◽  
Lei Chen
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Control Method ◽  
Tracking Error ◽  
Switching Control ◽  
Polar Coordinates ◽  
Control Law ◽  
Moving Target ◽  
Nonholonomic Mobile Robots ◽  
Time Switching

In this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered. First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot. Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method. Rigorous proof shows that the tracking error converges to zero in a finite time. Numerical simulation demonstrates the effectiveness of the proposed control method.

scholarly journals Adaptive Projective Synchronization between Two Different Fractional-Order Chaotic Systems with Fully Unknown Parameters

2012 ◽  
Vol 2012 ◽  
pp. 1-16 ◽  
Author(s):  
Liping Chen ◽  
Shanbi Wei ◽  
Yi Chai ◽  
Ranchao Wu
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Projective Synchronization ◽  
Control Law ◽  
Unknown Parameters ◽  
Chen System ◽  
Fractional Order Differential Equations ◽  
Response Systems ◽  
The Stability ◽  
Adaptive Control Law

Projective synchronization between two different fractional-order chaotic systems with fully unknown parameters for drive and response systems is investigated. On the basis of the stability theory of fractional-order differential equations, a suitable and effective adaptive control law and a parameter update rule for unknown parameters are designed, such that projective synchronization between the fractional-order chaotic Chen system and the fractional-order chaotic Lü system with unknown parameters is achieved. Theoretical analysis and numerical simulations are presented to demonstrate the validity and feasibility of the proposed method.

A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme

2019 ◽  
Vol 14 (3) ◽  
Author(s):  
Vo Anh Tuan ◽  
Hee-Jun Kang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Control Law ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Position Errors ◽  
Time Control

In this study, a new finite time control method is suggested for robotic manipulators based on nonsingular fast terminal sliding variables and the adaptive super-twisting method. First, to avoid the singularity drawback and achieve the finite time convergence of positional errors with a fast transient response rate, nonsingular fast terminal sliding variables are constructed in the position errors' state space. Next, adaptive tuning laws based on the super-twisting scheme are presented for the switching control law of terminal sliding mode control (TSMC) so that a continuous control law is extended to reject the effects of chattering behavior. Finally, a new finite time control method ensures that sliding motion will take place, regardless of the effects of the perturbations and uncertainties on the robot system. Accordingly, the stabilization and robustness of the suggested control system can be guaranteed with high-precision performance. The robustness issue and the finite time convergence of the suggested system are totally confirmed by the Lyapunov stability principle. In simulation studies, the experimental results exhibit the effectiveness and viability of our proposed scheme for joint position tracking control of a 3DOF PUMA560 robot.

Function Projective Dual Synchronization with Uncertain Parameters of Hyperchaotic Systems

2017 ◽  
Vol 6 (4) ◽  
pp. 1-16 ◽  
Author(s):  
A. Almatroud Othman ◽  
M.S.M. Noorani ◽  
M. Mossa Al-sawalha
Keyword(s):  
Adaptive Control ◽  
Lyapunov Stability Theory ◽  
Control Law ◽  
Uncertain Parameters ◽  
Unknown Parameters ◽  
Chen System ◽  
Response Systems ◽  
Hyperchaotic Lu System ◽  
Hyperchaotic Systems ◽  
Adaptive Control Law

Function projective dual synchronization between two pairs of hyperchaotic systems with fully unknown parameters for drive and response systems is investigated. On the basis of the Lyapunov stability theory, a suitable and effective adaptive control law and parameters update rule for unknown parameters are designed, such that function projective dual synchronization between the hyperchaotic Chen system and the hyperchaotic Lü system with unknown parameters is achieved. Theoretical analysis and numerical simulations are presented to demonstrate the validity and feasibility of the proposed method.

scholarly journals Positiveness and Observer-Based Finite-Time Control for a Class of Markov Jump Systems with Some Complex Environment Parameters

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Chengcheng Ren ◽  
Shuping He
Keyword(s):  
Finite Time ◽  
Disturbance Attenuation ◽  
Linear Matrix ◽  
Control Law ◽  
Complex Environment ◽  
Markov Jump ◽  
Markov Jump Systems ◽  
Time Control ◽  
Jump Systems ◽  
Environment Parameters

An observer-based finite-time L2-L∞ control law is devised for a class of positive Markov jump systems in a complex environment. The complex environment parameters include bounded uncertainties, unknown nonlinearities, and external disturbances. The objective is to devise an appropriate observer-based control law that makes the corresponding augment error dynamic Markov jump systems be positive and finite-time stabilizable and satisfy the given L2-L∞ disturbance attenuation index. A sufficient condition is initially established on the existence of the observer-based finite-time controller by using proper stochastic Lyapunov-Krasovskii functional. The design criteria are presented by means of linear matrix inequalities. Finally, the feasibility and validity of the main results can be illustrated through a numerical example.

Sign in / Sign up

Export Citation Format

Share Document