Robust Tracking Control for Switched Fuzzy Systems with Fast Switching Controller

This paper addresses the problem of designing robust tracking controls for a class of switched fuzzy (SF) systems with time delay. A switched fuzzy system, which differs from existing ones, is firstly employed to describe a nonlinear system. Next, a fast switching controller consisting of a number of simple subcontrollers is proposed. The smooth transition is governed by using the fast switching controller. Tracking hybrid control schemes which are based upon a combination of theH∞tracking theory, fast switching control algorithm, and switching law design are developed such that theH∞model referent tracking performance is guaranteed. Since convex combination techniques are used to derive the delay independent criteria, some subsystems are allowed to be unstable. Finally, various comparisons of the elaborated examples are conducted to demonstrate the effectiveness of the proposed control design approach. All results illustrate good control performances as desired.

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Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance

Mathematical Problems in Engineering ◽

10.1155/2016/7364216 ◽

2016 ◽

Vol 2016 ◽

pp. 1-9

Author(s):

Zhen Yang ◽

Shumin Fei ◽

Fang Wang ◽

Jiaguo Lv ◽

Xishang Dong

Keyword(s):

Robot Manipulator ◽

Control Strategies ◽

Robotic Manipulators ◽

Robotic Manipulator ◽

Switching Law ◽

Control Schemes ◽

Switching Controller ◽

Adaptive Switching Control ◽

Bounded Disturbance ◽

Input Torque

Two adaptive switching control strategies are proposed for the trajectory tracking problem of robotic manipulator in this paper. The first scheme is designed for the supremum of the bounded disturbance for robot manipulator being known; while the supremum is not known, the second scheme is proposed. Each proposed scheme consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theorem, it is shown that two new schemes can guarantee tracking performance of the robotic manipulator and be adapted to the alternating unknown loads. Simulations for two-link robotic manipulator are carried out and show that the two schemes can avoid the overlarge input torque, and the feasibility and validity of the proposed control schemes are proved.

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Novel Robust Control of Stochastic Nonlinear Switched Fuzzy Systems

Mathematical Problems in Engineering ◽

10.1155/2021/9743351 ◽

2021 ◽

Vol 2021 ◽

pp. 1-10

Author(s):

Hong Yang ◽

Yu Zhang ◽

Le Zhang

Keyword(s):

Fuzzy Systems ◽

Control Algorithm ◽

Convex Combination ◽

Control Design ◽

Good Control ◽

World Systems ◽

Switching Law ◽

State Dependent ◽

Dependent Form ◽

The Stability

This paper addresses the problem of designing novel switching control for a class of stochastic nonlinear switched fuzzy systems with time delay. Firstly, a stochastic nonlinear switched fuzzy system can precisely describe continuous and discrete dynamics as well as their interactions in the complex real-world systems. Next, novel control algorithm and switching law design of the state-dependent form are developed such that the stability is guaranteed. Since convex combination techniques are used to derive the delay independent criteria, some subsystems are allowed to be unstable. Finally, various comparisons of the elaborated examples are conducted to demonstrate the effectiveness of the proposed control design approach. All results illustrate good control performances as desired.

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Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

Journal of Control Science and Engineering ◽

10.1155/2008/520591 ◽

2008 ◽

Vol 2008 ◽

pp. 1-13 ◽

Cited By ~ 7

Author(s):

Yi Zuo ◽

Yaonan Wang ◽

Lihong Huang ◽

Chunsheng Li

Keyword(s):

Upper Bound ◽

Hybrid Control ◽

Robust Tracking ◽

Robust Tracking Control ◽

External Disturbances ◽

Computer Methods ◽

Uncertain Dynamics ◽

Asymptotic Error ◽

Feedforward Controller ◽

System Uncertainties

We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

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