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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: collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking controlTo 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,incorporating specified control laws for different stages.

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 robustcontrol algorithm, combined with integral-separated proportional integral derivative (PID) control algorithmThis includes feedback control algorithm and feedforward control algorithm.precision of PLMDD from ±5 μm to ±2 μm and dramatically improves its anti-disturbance ability.

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 modecontrol algorithm under various disturbances.

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

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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: >Hydraulic servo system plays a significant role in industries, and usually acts as a core point in controluncertainty 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     repetitivecontrol     noise alleviation     constraint control    

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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 modecontrol    

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of anAMBsuspended energy storage flywheel platform under characteristicmodel based all-coefficient adaptivecontrol laws 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 experimentalSuch a control law is an intelligent control law, as its design does not rely on a pre-established mathematicalExtensive numerical simulations and experimental results indicated that this intelligent control lawoutperforms a μ-synthesis control law, originally designed when the experimental platform wasWe further establish, through an extensive simulation, that this intelligent control law possesses considerable

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

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Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 1, doi: 10.1007/s11465-023-0773-z

Abstract: driven dual-arm manipulator, due to the unknown heavy load, difficulty in measuring contact forces, and controlTo overcome this problem, a compliance motion control method is proposed in this paper for the HDM.The mass parameter of the unknown object is obtained by using an adaptive method based on velocity erroraddition, the position controllers of the two individual HMs are designed to enable precise motion controlby using the virtual decomposition control method.

Keywords： hydraulic dual-arm manipulator     compliance motion control     unknown object     adaptive mass estimation     nonlinear control    

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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: This paper proposes a design of control and estimation strategy for induction motor based on the variableIt 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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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

Frontiers of Structural and Civil Engineering 2010, Volume 4, Issue 3,   Pages 277-286 doi: 10.1007/s11709-010-0072-8

Abstract: The advances in compensation methods based on adaptive control theory enable researchers to accommodatevariable actuator delay and achieve good actuator control for real-time tests.However, these adaptive methods all require time duration for actuator delay adaptation.Experiments show that a good actuator delay estimate can help optimize the performance of the adaptiveThis paper presents a model reference adaptive control based method to identify the parameter of a simplified

Keywords： real-time testing     actuator delay     compensation     adaptive control     MIT rule     discrete transfer function    

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Bionic soft robotic gripper with feedback control for adaptive grasping and capturing applications

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 1, doi: 10.1007/s11465-023-0779-6

Abstract: Robots are playing an increasingly important role in engineering applications. Soft robots have promising applications in several fields due to their inherent advantages of compliance, low density, and soft interactions. A soft gripper based on bio-inspiration is proposed in this study. We analyze the cushioning and energy absorption mechanism of human fingertips in detail and provide insights for designing a soft gripper with a variable stiffness structure. We investigate the grasping modes through a large deformation modeling approach, which is verified through experiments. The characteristics of the three grasping modes are quantified through testing and can provide guidance for robotics manipulation. First, the adaptability of the soft gripper is verified by grasping multi-scale and extremely soft objects. Second, a cushioning model of the soft gripper is proposed, and the effectiveness of cushioning is verified by grasping extremely sharp objects and living organisms. Notably, we validate the advantages of the variable stiffness of the soft gripper, and the results show that the soft robot can robustly complete assemblies with a gap of only 0.1 mm. Owing to the unstructured nature of the engineering environment, the soft gripper can be applied in complex environments based on the abovementioned experimental analysis. Finally, we design the soft robotics system with feedback capture based on the inspiration of human catching behavior. The feasibility of engineering applications is initially verified through fast capture experiments on moving objects. The design concept of this robot can provide new insights for bionic machinery.

Keywords： soft bionic gripper     variable stiffness structure     large deformation modeling     feedback control     soft    

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MSSSA: a multi-strategy enhanced sparrow search algorithm for global optimization Research Article

Kai MENG, Chen CHEN, Bin XIN

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 12,   Pages 1828-1847 doi: 10.1631/FITEE.2200237

Abstract: The (SSA) is a recent meta-heuristic optimization approach with the advantages of simplicity and flexibility. However, SSA still faces challenges of premature convergence and imbalance between exploration and exploitation, especially when tackling multimodal . Aiming to deal with the above problems, we propose an enhanced variant of SSA called the multi-strategy enhanced (MSSSA) in this paper. First, a chaotic map is introduced to obtain a high-quality initial population for SSA, and the opposition-based learning strategy is employed to increase the population diversity. Then, an is designed to accommodate an adequate balance between exploration and exploitation. Finally, a is embedded in the individual update stage to avoid falling into local optima. To validate the effectiveness of the proposed MSSSA, a large number of experiments are implemented, including 40 complex functions from the IEEE CEC2014 and IEEE CEC2019 test suites and 10 classical functions with different dimensions. Experimental results show that the MSSSA achieves competitive performance compared with several state-of-the-art optimization algorithms. The proposed MSSSA is also successfully applied to solve two engineering . The results demonstrate the superiority of the MSSSA in addressing practical problems.

Keywords： Swarm intelligence     Sparrow search algorithm     Adaptive parameter control strategy     Hybrid disturbance    

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 353-362 doi: 10.1007/s11465-020-0620-4

Abstract: This study proposes a gained switching-based discrete-time sliding mode control method to address thethe proposed method can effectively increase the convergence speed while guaranteeing chattering-free controlcontrolling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive

Keywords： sliding-mode control     robot control     discrete-time uncertain systems     fuzzy logic    

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Optimization design of anti-seismic engineering measures for intake tower based on non-dominated sorting

Frontiers of Structural and Civil Engineering 2023, Volume 17, Issue 9,   Pages 1428-1441 doi: 10.1007/s11709-023-0998-2

Abstract: Therefore, effective and low-cost anti-seismic engineering measures must be designed for protection.object, and its natural vibration characteristics and dynamic response were first analyzed using the modeThe non-dominated sorting genetic algorithm-II (NSGA-II) was adopted to optimize the anti-seismic schemeThe method adopted in this study may provide significant references for designing anti-seismic measures

Keywords： intake tower     NSGA-II     mode decomposition response spectrum method     anti-seismic engineering measures    

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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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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

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

Jianyong YAO

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

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

Xujun LYU, Long DI, Zongli LIN

Journal Article

Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown

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

A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

Journal Article

Bionic soft robotic gripper with feedback control for adaptive grasping and capturing applications

Journal Article

MSSSA: a multi-strategy enhanced sparrow search algorithm for global optimization

Kai MENG, Chen CHEN, Bin XIN

Journal Article

Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Journal Article

Optimization design of anti-seismic engineering measures for intake tower based on non-dominated sorting

Journal Article

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

Ruizhuo SONG, Shi XING, Zhen XU

Journal Article