Article
Engineering, Aerospace
Xiangyu Shao, Guanghui Sun, Weiran Yao, Xiaolei Li, Ouyang Zhang
Summary: This paper investigates the task-space trajectory tracking control of free-floating space manipulator (FFSM) with system uncertainty considered. A disturbance observer and fractional-order resolved acceleration control (FORAC) scheme are designed to improve performance, and estimated uncertainty is introduced to compensate for the influence of actual system uncertainty.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Article
Computer Science, Artificial Intelligence
Xia Wang, Bin Xu, Yixin Cheng, Hai Wang, Fuchun Sun
Summary: This article investigates robust adaptive learning control for space robots with target capturing. By using momentum conservation theory and considering nonlinear dynamics, robust control and adaptive learning control methods are designed to achieve fast realization of desired states and dynamics learning for the captured target.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
Article
Engineering, Aerospace
Bo Dou, Xiaokui Yue
Summary: This paper proposes a fractional-order sliding mode control scheme with a disturbance observer for tracking control of free-floating space manipulators. A fast fractional-order disturbance observer is introduced to estimate disturbances in finite time, relaxing the assumption of first-order differentiability of the disturbances. The paper also designs a new fractional-order nonsingular terminal sliding mode controller to improve the transient response and tracking precision. The proposed methods are proven to be effective and superior through simulations.
AEROSPACE SCIENCE AND TECHNOLOGY
(2023)
Article
Automation & Control Systems
Masoud Bagherzadeh, Zahra Rahmani
Summary: The stability and robust tracking control problems of a class of switched nonlinear systems with uncertain input and state delays are investigated in this study. An adaptive fuzzy technique is used to counteract the effects of external disturbances and approximate unknown functions. An adaptive control law is developed to ensure the stability and robust performance of the system.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Robotics
Rui-Dong Xi, Xiao Xiao, Tie-Nan Ma, Zhi-Xin Yang
Summary: This paper proposes a robust adaptive sliding mode controller to address the challenges of parameter uncertainties and fluctuated disturbances in the smooth and precise control of robot manipulators in industrial environments. The adaptive technique integrated with radial basis function neural networks is used to handle modeling uncertainties caused by parameter variation. A new sliding mode disturbance observer and variable structure scheme are adopted to compensate for interference and suppress the chattering phenomenon. Experimental results demonstrate the robustness, stability, and superior tracking performance of the proposed approach in robot assembly and other applications.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Qijia Yao
Summary: This article investigates the fixed-time trajectory tracking control of a free-flying rigid space manipulator perturbed by model uncertainties and external disturbances. A novel robust fixed-time integrated controller is developed, which ensures that the position and velocity tracking errors regulate to zero in fixed time even subject to lumped disturbance.
Article
Automation & Control Systems
Jinhui Zhang, Duanduan Chen, Ganghui Shen, Zhongqi Sun, Yuanqing Xia
Summary: In this paper, disturbance observer based adaptive sliding mode control approaches are proposed for Takagi-Sugeno fuzzy systems with unknown external disturbance. By designing novel dynamic sliding surfaces and adaptive laws, both state- and output-based controllers are designed without input matrix constraints, incorporating disturbance estimates to achieve active disturbance rejection. The effectiveness of the proposed control approaches is demonstrated through numerical examples.
Article
Automation & Control Systems
Shuangxia Niu, Yixiao Luo, Weinong Fu, Xiaodong Zhang
Summary: This article presents a novel model predictive control method for a three-phase permanent-magnet synchronous motor (PMSM) to improve robustness against parameter variation and increase current control precision. The method utilizes extended voltage vectors and an inductance disturbance observer to address parameter sensitivity and enhance robustness. Experimental results demonstrate the effectiveness and reliability of the proposed method.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Multidisciplinary
Zhikai Yao, Xianglong Liang, Qianting Zhao, Jianyong Yao
Summary: This study proposes an adaptive disturbance observer-based asymptotic tracking control strategy for high accuracy tracking control of hydraulic systems. The strategy compensates for time-varying disturbance using model-based feed-forward control terms designed by an error-function-based disturbance observer. Online adaptive control is integrated to address parameter uncertainty. The proposed controller achieves global asymptotic stability under mismatched or match disturbance and demonstrates state-of-the-art tracking performance in the presence of parameter uncertainty and time-varying disturbance.
APPLIED MATHEMATICAL MODELLING
(2022)
Article
Engineering, Mechanical
Daniel Galvan-Perez, Hugo Yanez-Badillo, Francisco Beltran-Carbajal, Ivan Rivas-Cambero, Antonio Favela-Contreras, Ruben Tapia-Olvera
Summary: This paper studies the motion trajectory tracking control problem for anthropomorphic manipulator robots using output feedback and artificial neural networks. A new adaptive robust motion trajectory tracking control scheme is presented, which reduces the dependency on detailed nonlinear mathematical modeling of robotic systems and eliminates the need for real-time estimation of uncertain dynamic disturbances. Several case studies are described to demonstrate the robustness of the control scheme for a class of MIMO nonlinear robotic systems. Insights for extending the control design approach to other architectures of nonlinear robotic systems are provided.
Article
Engineering, Aerospace
Dongyang Shang, Xiaopeng Li, Meng Yin, Fanjie Li
Summary: Space flexible manipulator (SFM) is a promising development direction in space mechanism, and this paper identifies the nonlinear friction torque in the SFM dynamics equations using fuzzy rules, improving the control torque precision and reducing the tracking errors of the end-effectors.
ADVANCES IN SPACE RESEARCH
(2023)
Article
Engineering, Aerospace
Bowen Zhan, Bosong Duan, Sibo Cheng, Dapeng Yang, Minghe Jin
Summary: This paper proposes an adaptive controller for detumbling targets in the post-capturing phase and achieves null disturbance.
ADVANCES IN SPACE RESEARCH
(2022)
Letter
Automation & Control Systems
Huayang Sai, Zhenbang Xu
Summary: A flaw is identified in the proof of a central result (Theorem 2) in a recent paper by Zhang et al. (2021).
Article
Automation & Control Systems
Li Ding, Kailei Liu, Guibing Zhu, Yaoyao Wang, Yangmin Li
Summary: This article proposes a novel robust control scheme for trajectory tracking control of a cable-driven aerial manipulator. It combines an adaptive fractional-order nonsingular terminal sliding mode manifold and a nonlinear disturbance observer. The scheme includes a disturbance observer, a sliding mode control to guarantee accuracy, and an adaptive reaching law for robustness. Experimental results show that the proposed controller has better performance and robustness against disturbances compared to existing controllers.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2023)
Article
Acoustics
Masoud Seyed Sakha, Hamed Kharrati, Farhad Mehdifar
Summary: In this study, an adaptive control scheme is proposed to solve the trajectory tracking problem of a free-floating manipulator. By mapping the manipulator to a fixed base equivalent manipulator and utilizing the properties of a revolute joint manipulator, the proposed technique demonstrates effectiveness in handling unknown stochastic input disturbances and dynamical uncertainties, as shown in simulation studies.
JOURNAL OF VIBRATION AND CONTROL
(2022)
