Adaptive Fuzzy Fast Finite-Time Formation Control for Second-Order MASs Based on Capability Boundaries of Agents (The revised manuscript of TFS-2021-0795)

2021 ◽  
pp. 1-1
Author(s):  
Jie Lan ◽  
Yan-Jun Liu ◽  
Tongyu Xu ◽  
Shaocheng Tong ◽  
Lei Liu
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Second Order ◽  
Adaptive Fuzzy

scholarly journals The Design of Robotic Arm Adaptive Fuzzy Controller Based on Oscillator and Differentiator

2019 ◽  
Vol 15 (05) ◽  
pp. 47
Author(s):  
Wan Min ◽  
Tian Qinglan ◽  
Sun Chuanhong ◽  
Yi Xiuyuan
Keyword(s):  
Finite Time ◽  
Fuzzy Controller ◽  
High Accuracy ◽  
Second Order ◽  
Robotic Arm ◽  
State Variables ◽  
Adaptive Fuzzy Controller ◽  
Adaptive Fuzzy ◽  
State Variable ◽  
Simulation Results

<p class="AbstractText">State variables are acquired when tracking the trace of the robotic arm with adaptive fuzzy controller. Since some variables are difficult to or cannot be measured directly, we introduced the second order oscillator and the second order differentiator that converges in finite time to obtain the value of each state variable. In this paper, a model based on the dynamics analysis of robotic arm was build to design the second order oscillator and the second order differentiator that converges in finite time to obtain the value of each state variable. The designed adaptive fuzzy controller for robotic arm achieved high accuracy in trace tracking. Simulation results of two-link robotic arm show the adaptive fuzzy controller for robotic arm based on differentiators is adaptable, flexible. This controller is simple to design, easy to implement, and has a good value for the application of robotic arm system.</p>

scholarly journals Finite-Time Adaptive Fuzzy Control for Nonlinear Systems with Unknown Backlash-Like Hysteresis

2021 ◽  
Author(s):  
Shuzhen Diao ◽  
Wei Sun ◽  
Le Wang ◽  
Jing Wu
Keyword(s):  
Fuzzy Control ◽  
Finite Time ◽  
Fuzzy Systems ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
Finite Time Stability ◽  
Adaptive Fuzzy ◽  
Intermediate Variable ◽  
Control Scheme ◽  
Theoretical Results

AbstractThis study considers the tracking control problem of the nonstrict-feedback nonlinear system with unknown backlash-like hysteresis, and a finite-time adaptive fuzzy control scheme is developed to address this problem. More precisely, the fuzzy systems are employed to approximate the unknown nonlinearities, and the design difficulties caused by the nonlower triangular structure are also overcome by using the property of fuzzy systems. Besides, the effect of unknown hysteresis input is compensated by approximating an intermediate variable. With the aid of finite-time stability theory, the proposed control algorithm could guarantee that the tracking error converges to a smaller region. Finally, a simulation example is provided to further verify the above theoretical results.

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