robust-adaptive control strategy for gear bearing drive systems

This letter addresses a robust adaptive control for the synchronization method based on a modified polynomial observer (slave system) which tends to follow exponentially the chaotic Colpitts circuits brought back to a topology of the Chua oscillator (master system) with perturbations. The authors derive some less stringent conditions for the exponential and asymptotic stability of adaptive robust control systems at finite time. They provide a proof of stability and convergence (hence, that synchronization takes place) via Lyapunov stability method. That is, the observer (slave system) must synchronize albeit noisy measurements and reject the effect of perturbations on the system dynamics. To highlight their contribution, the authors also present some simulation results with the purpose to compare the proposed method to the classical polynomial observer. Finally, numerical results are used to show the robustness and effectiveness of the proposed control strategy.

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Robust adaptive control of door opening by a mobile rescue manipulator based on unknown-force-related constraints estimation

Robotica ◽

10.1017/s0263574717000200 ◽

2017 ◽

Vol 36 (1) ◽

pp. 119-140 ◽

Cited By ~ 9

Author(s):

Liang Ding ◽

Kerui Xia ◽

Haibo Gao ◽

Guangjun Liu ◽

Zongquan Deng

Keyword(s):

Adaptive Control ◽

Control Strategy ◽

Robust Adaptive Control ◽

Mobile Manipulator ◽

Joint Position ◽

Door Opening ◽

Robust Adaptive ◽

Adaptive Control Strategy ◽

Mobile Base

SUMMARYThis study focuses on a door-opening mobile manipulator operating in four phases (reaching the door, grasping the door handle, turning the door handle, and pulling the door). We use force/torque feedback-based control, achieving compliance of the mobile base when it comes into contact with the handle. A method is proposed for estimating the unknown force-related constraints from manipulator joint position measurements. A robust adaptive control strategy is developed for tracking the planned trajectory to open the door. Finally, a mobile manipulator opens a real door with a locked latch and unknown force-related constraints, demonstrating the validity of the proposed approach.

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Switching Control With Learning for a Class of Systems

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.1589031 ◽

2003 ◽

Vol 125 (3) ◽

pp. 448-450

Author(s):

X. Zhang ◽

S. S. Nair

Keyword(s):

Adaptive Learning ◽

Control Strategy ◽

Controller Design ◽

Switching Control ◽

Robust Adaptive Control ◽

Control Effort ◽

On Line ◽

Robust Adaptive ◽

Adaptive Control Strategy ◽

Stable Learning

Analytical details are developed for a robust adaptive control strategy that combines switching control and on-line adaptive learning, for a class of nonlinear systems. The condition for stable learning is derived, guidelines for design parameter selection are provided, and the tradeoff between performance and chattering control effort is examined. The results of the study are summarized in the form of a constructive procedure for controller design for the class of systems.

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