scholarly journals Rapid-Erection Backstepping Tracking Control for Electrohydraulic Lifting Mechanisms of Launcher Systems

2022 ◽  
Vol 12 (2) ◽  
pp. 893
Author(s):  
Lan Li ◽  
Yi Jiang ◽  
Xiaowei Yang ◽  
Jianyong Yao
Keyword(s):  
Tracking Control ◽  
Lyapunov Theory ◽  
System Control ◽  
Nonlinear Feedback ◽  
Tracking Accuracy ◽  
Theory Analysis ◽  
Robust Controller ◽  
Space Forms ◽  
Control Framework ◽  
Asymptotic Tracking

Uncertainties and disturbances widely exist in electrohydraulic lifting mechanisms of launcher systems, which may worsen the rapid-erection tracking accuracy and even make the system unstable. To deal with the issue, an asymptotic tracking control framework is developed for electrohydraulic lifting mechanisms of launcher systems. Firstly, the dynamic equations and state-space forms of the electrohydraulic lifting mechanism are modeled. Based on the system model, a nonlinear rapid-erection robust controller is constructed to achieve the improvement of the system control performance, in which a nonlinear feedback term is employed to remove the effects of uncertainties and disturbances on tracking performance. Compared to the existing results, the asymptotic tracking stability of the closed-loop system can be assured based on the Lyapunov theory analysis. In the end, the simulation example of an actual electrohydraulic lifting mechanism of the launcher system is done to validate the effectiveness with the proposed controller.

scholarly journals A Q-Learning-Based Parameters Adaptive Algorithm for Formation Tracking Control of Multi-Mobile Robot Systems

Complexity ◽  
2022 ◽  
Vol 2022 ◽  
pp. 1-19
Author(s):  
Chen Zhang ◽  
Wen Qin ◽  
Ming-Can Fan ◽  
Ting Wang ◽  
Mou-Quan Shen
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Parameter Tuning ◽  
Adaptive Method ◽  
Lyapunov Theory ◽  
Tracking Accuracy ◽  
Loop Control ◽  
Q Learning ◽  
Formation Tracking ◽  
Learning Scheme

This paper proposes an adaptive formation tracking control algorithm optimized by Q-learning scheme for multiple mobile robots. In order to handle the model uncertainties and external disturbances, a desired linear extended state observer is designed to develop an adaptive formation tracking control strategy. Then an adaptive method of sliding mode control parameters optimized by Q-learning scheme is employed, which can avoid the complex parameter tuning process. Furthermore, the stability of the closed-loop control system is rigorously proved by means of matrix properties of graph theory and Lyapunov theory, and the formation tracking errors can be guaranteed to be uniformly ultimately bounded. Finally, simulations are presented to show the proposed algorithm has the advantages of faster convergence rate, higher tracking accuracy, and better steady-state performance.

Passivity-Based Tracking Control for Uncertain Nonlinear Feedback Systems

2016 ◽  
Vol 28 (6) ◽  
pp. 837-841 ◽  
Author(s):  
Ni Bu ◽  
◽  
Mingcong Deng ◽  
Keyword(s):  
Control Problem ◽  
Tracking Control ◽  
Feedback System ◽  
Factorization Method ◽  
Tracking Performance ◽  
Nonlinear Feedback ◽  
Feedback Systems ◽  
Control Scheme ◽  
Asymptotic Tracking ◽  
Nonlinear Feedback Systems

[abstFig src='/00280006/07.jpg' width='300' text='The asymptotic tracking performance and the passivity property' ] The tracking control problem for the uncertain nonlinear feedback systems is considered in this paper by using passivity-based robust right coprime factorization method. Concerned with the passivity for the nonlinear feedback system, two stable controllers are designed such that the nonlinear feedback system is robust stable and the plant output asymptotically tracks to the reference output. A numerical example is given to show the validity of the control scheme as well as the tracking performance.

On Operational Space Tracking Control of Robotic Manipulators With Uncertain Dynamic and Kinematic Terms

2018 ◽  
Vol 141 (1) ◽  
Author(s):  
Kamil Cetin ◽  
Enver Tatlicioglu ◽  
Erkan Zergeroglu
Keyword(s):  
Tracking Control ◽  
Joint Space ◽  
Robot Dynamics ◽  
Robust Controller ◽  
Operational Space ◽  
Asymptotic Tracking ◽  
Robust Adaptive ◽  
And Performance ◽  
The Stability ◽  
Velocity Level

In this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth robust controller is applied to compensate the parametric uncertainties related to the robot dynamics while an adaptive update algorithm is used to deal with the kinematic uncertainties. Rather than formulating the tracking problem in the joint space, as most of the previous works on the field have done, the controller formulation is presented in the operational space of the robot where the actual task is performed. Additionally, the robust part of the proposed controller is continuous ensuring the asymptotic tracking and relatively smooth controller effort. The stability of the overall system and boundedness of the closed loop signals are ensured via Lyapunov based arguments. Experimental results are presented to illustrate the feasibility and performance of the proposed method.

scholarly journals Formation tracking of multiple amphibious robots with unknown nonlinear dynamics

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142093854
Author(s):  
Di Wu ◽  
Lichao Hao ◽  
Xiujun Xu ◽  
Hongjian Wang ◽  
Jiajia Zhou
Keyword(s):  
Nonlinear Dynamics ◽  
Tracking Control ◽  
Control Algorithm ◽  
Dynamic Control ◽  
Lyapunov Theory ◽  
Kinematic Control ◽  
Formation Tracking ◽  
Control Stage ◽  
Cooperative Tracking ◽  
Unknown Nonlinear Dynamics

Cooperative tracking control problem of multiple water–land amphibious robots is discussed in this article with consideration of unknown nonlinear dynamics. Firstly, the amphibious robot dynamic model is formulated as an uncoupled nonlinear one in horizontal plane through eliminating relatively small sway velocity of the platform. Then cooperative tracking control algorithm is proposed with a two-stage strategy including dynamic control stage and kinematic control stage. In dynamic control stage, adaptive consensus control algorithm is obtained with estimating nonlinear properties of amphibious robots and velocities of the leader by neural network with unreliable communication links which is always the case in underwater applications. After that, kinematic cooperative controller is presented to guarantee formation stability of multiple water–land amphibious robots system in kinematic control stage. As a result, with the implementation of graph theory and Lyapunov theory, the stability of the formation tracking of multiple water–land amphibious robots system is proved with consideration of jointly connected communication graph. At last, simulations are carried out to prove the effectiveness of the proposed approaches.

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