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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0753-3

Abstract: To address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) frameworkSpecifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,

Keywords： four-wheeled mobile robot     obstacle-circumventing adaptive control     adaptive anti-disturbance terminalsliding mode control     sub-target dynamic tracking regression obstacle avoidance    

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Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 260-264 doi: 10.1007/s11465-006-0036-9

Abstract: In order to enhance the tracking and anti-disturbance performance of the system, its third-order modelis established, and disturbance-observer based input revising feedforward error compensation robustThe feedback controller improves system tracking performance and suppresses load and mechanical disturbancemethod increases the tracking precision of PLMDD from ±5 μm to ±2 μm and dramatically improves its anti-disturbance

Keywords： feedforward     tracking     ±5     anti-disturbance performance     algorithm    

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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1,   Pages 95-101 doi: 10.1007/s11465-015-0332-3

Abstract:

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problemalgorithm enables better high-precision tracking performance with chattering-free than traditional sliding

Keywords： weld seam tracking     welding robotic manipulator     adaptive control     sliding mode control    

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Study on anti-sliding stability of hydraulic structures on subbed soils

Zhou Junliang

Strategic Study of CAE 2010, Volume 12, Issue 3,   Pages 4-14

Abstract:

To make a study on the anti-sliding stablity of foundation of hydraulicstructures on subbed soils, and based on the result by anti-sliding tests of dragged concreting clipplates in foundation pits, the anti-sliding stablity of foundation on subbed soils was determind.It is worked out a design method to determine the sliding frictional resistances and the forms of slidingstructure;a formula for the the anti-sliding move of subbed soils and a rule to distinguish the plane

Keywords： anti-sliding test of dragged concreting clip plates     the forms of the largest displacement and slidingmove     anti-sliding friction coefficient     design and calculation wethod    

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Study on anti-sliding stability of hydraulic structures on subbed soils (continued)

Zhou Junliang

Strategic Study of CAE 2011, Volume 13, Issue 9,   Pages 22-30

Abstract:

A study on the anti-sliding stability of hydraulic structures on subbedUsing the anti-sliding test results of dragged concreting pressure plate in foundation pits, the decreasedvalue of anti-sliding bearing capacity after spring back influenced of subbed soil is determined; envelopeof anti-sliding shear stress and friction coefficient are also quantitatively determined.and creepy slippage of subbed soil, to determine sliding contour creep, and limit the maximum compressive

Keywords： anti-sliding test of dragged concreting pressure plate     strength envelop of shear stress     friction coefficient     forms of displacement and sliding     creep slippage of subbed soil     design and calculation method    

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Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter

Qi-yan Tian, Jian-hua Wei, Jin-hui Fang, Kai Guo,jhfang@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 1,   Pages 55-66 doi: 10.1631/FITEE.15a0160

Abstract: The model combines the robust characteristics of an integral sliding mode controller with the adaptiveadjusting characteristics of an adaptive fuzzy controller.The stability of the whole system including the fuzzy inference system, integral sliding mode controller

Keywords： Cutting system     Electro-hydraulic system     Cutting velocity control     Adaptive fuzzy integral sliding mode    

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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 179-210 doi: 10.1007/s11465-018-0464-3

Abstract: uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbancerequirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed

Keywords： hydraulic servo system     adaptive control     robust control     nonlinear friction     disturbance compensation     repetitive    

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Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear Article

Xiao-yu ZHANG

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 12,   Pages 1331-1343 doi: 10.1631/FITEE.1500318

Abstract: Direct adaptive fuzzy sliding mode control design for discrete non-affine nonlinear systems is presentedfor trajectory tracking problems with disturbance.To obtain adaptiveness and eliminate chattering of sliding mode control, a dynamic fuzzy logical systemStability of the sliding mode control is validated using the Lyapunov analysis theory.The overall system is adaptive, asymptotically stable, and chattering-free.

Keywords： Nonlinear system     Discrete system     Dynamic fuzzy logical system     Direct adaptive     Sliding mode control    

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Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

Frontiers in Energy 2020, Volume 14, Issue 4,   Pages 836-849 doi: 10.1007/s11708-017-0444-z

Abstract: It describes a coupling of sliding mode direct torque control (DTC) with sliding mode flux and speedThis algorithm uses direct torque control basics and the sliding mode approach.The sliding mode controller is used to generate reference voltages in stationary frame and give themThe second aim of this paper is to design a sliding mode speed/flux observer which can improve the control

Keywords： induction motor     direct torque control (DTC)     space vector modulation (SVM)     sliding mode control (SMC)     sliding mode observer (SMO)     dS1104    

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Modal disturbance investigation of rod-shaped ultrasonic motor using bending vibrations

ZHANG Jiantao, ZHU Hua, ZHAO Chunsheng

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 3,   Pages 343-347 doi: 10.1007/s11465-008-0058-6

Abstract: Modal disturbance of a rod-shaped ultrasonic motor using bending vibrations can cause problems such asAccordingly, the structure parameters of the stator are modified to separate working modes from disturbanceThe frequency separation between working modes and disturbance modes is more than 2 kHz.

Keywords： Hamilton principle     disturbance     separation     frequency separation     dynamic analysis    

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Finite-time leader-follower consensus of a discrete-time system via sliding mode control Research Article

Ruizhuo SONG, Shi XING, Zhen XU

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 7,   Pages 1057-1068 doi: 10.1631/FITEE.2100565

Abstract: Our adaptive controller is designed using the traditional sliding mode reaching law, and its advantages

Keywords： Finite-time     Leader-follower consensus     Adaptive sliding mode control     Multi-agent systems    

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Finite element modeling of cable sliding and its effect on dynamic response of cable-supported truss

Yujie YU, Zhihua CHEN, Renzhang YAN

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 5,   Pages 1227-1242 doi: 10.1007/s11709-019-0551-5

Abstract: cable-supported structures usually bears high tension forces, and clip joints may fail to resist cable slidingA analytical method that considers the dynamic cable sliding effect is proposed in this paper.The cable sliding effect and the frictional tension loss are solved with the original length method thatThen, the balanced tension distributions are calculated after frictional sliding.During seismic excitations, the cable sliding behavior in the cable-supported truss have an averaging

Keywords： sliding cable     explicit solution framework     original length method     seismic response     cable rupture    

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Anti-sliding safety assessment for main saddle on middle tower of Taizhou Bridge

Ruan Xin,Ruan Jing,Chen Airong and Guo Ji

Strategic Study of CAE 2012, Volume 14, Issue 5,   Pages 71-74

Abstract: Three methods to assess the safety of saddle sliding on middle tower of the Taizhou Bridge are presentedprobabilistic model of load effect and structure resistance is established, and reliability index of anti-sliding

Keywords： three-tower two-span suspension bridge     middle tower saddle     deterministic assessment     probabilistic assessment    

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of anAMBsuspended energy storage flywheel platform under characteristicmodel based all-coefficient adaptive None

Xujun LYU, Long DI, Zongli LIN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1,   Pages 120-130 doi: 10.1631/FITEE.1800606

Abstract:

A characteristic model based all-coefficient adaptive control law was recently implemented on an experimental

Keywords： Intelligent control     Robustness     Uncertainty     Disturbance rejection     Active magnetic bearings     Energy storage    

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Title Author Date Type Operation

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Journal Article

Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

Journal Article

An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

Journal Article

Study on anti-sliding stability of hydraulic structures on subbed soils

Zhou Junliang

Journal Article

Study on anti-sliding stability of hydraulic structures on subbed soils (continued)

Zhou Junliang

Journal Article

Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter

Qi-yan Tian, Jian-hua Wei, Jin-hui Fang, Kai Guo,jhfang@zju.edu.cn

Journal Article

Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

Journal Article

Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear

Xiao-yu ZHANG

Journal Article

Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

Journal Article

Modal disturbance investigation of rod-shaped ultrasonic motor using bending vibrations

ZHANG Jiantao, ZHU Hua, ZHAO Chunsheng

Journal Article

Key technological innovations in the construction of the main terminal of Beijing Daxing International

Journal Article

Finite-time leader-follower consensus of a discrete-time system via sliding mode control

Ruizhuo SONG, Shi XING, Zhen XU

Journal Article

Finite element modeling of cable sliding and its effect on dynamic response of cable-supported truss

Yujie YU, Zhihua CHEN, Renzhang YAN

Journal Article

Anti-sliding safety assessment for main saddle on middle tower of Taizhou Bridge

Ruan Xin,Ruan Jing,Chen Airong and Guo Ji

Journal Article

of anAMBsuspended energy storage flywheel platform under characteristicmodel based all-coefficient adaptive

Xujun LYU, Long DI, Zongli LIN

Journal Article