Pub Date : 2023-12-07DOI: 10.1177/09596518231209222
Xinxing Zhang, Kaiyu Dai, Bing Zhang, Leigang Wang, Jianbing Yang
Multiple disturbances coming from friction, matched, and mismatched uncertainties make it difficult for electrohydraulic servosystems to obtain the satisfactory position-tracking performance. The existing adaptive backstepping controllers fail to effectively distinguish the difference of disturbance between the mechanical subsystem and the hydraulic subsystem, which limits the compensation effect of multiple disturbances, especially for friction nonlinearity. Therefore, the adaptive backstepping-extended state observer position-tracking controller combined with compound friction compensation is proposed to simultaneously compensate for the fast-varying friction disturbance of a mechanical subsystem and the slow-varying matched disturbance of a hydraulic subsystem. The extended state observer algorithm is integrated into the adaptive backstepping controller to suppress the null bias of the average tracking error. The compound friction compensation includes a LuGre model-based compensation and a high-order disturbance observer, which can improve the tracking performance of system and avoids the excessive gain of observer. A large number of comparative experiments are conducted to verify the effective of the proposed controller.
{"title":"Adaptive backstepping-extended state observer control for electrohydraulic position servo systems with multiple disturbances using the compound friction compensation","authors":"Xinxing Zhang, Kaiyu Dai, Bing Zhang, Leigang Wang, Jianbing Yang","doi":"10.1177/09596518231209222","DOIUrl":"https://doi.org/10.1177/09596518231209222","url":null,"abstract":"Multiple disturbances coming from friction, matched, and mismatched uncertainties make it difficult for electrohydraulic servosystems to obtain the satisfactory position-tracking performance. The existing adaptive backstepping controllers fail to effectively distinguish the difference of disturbance between the mechanical subsystem and the hydraulic subsystem, which limits the compensation effect of multiple disturbances, especially for friction nonlinearity. Therefore, the adaptive backstepping-extended state observer position-tracking controller combined with compound friction compensation is proposed to simultaneously compensate for the fast-varying friction disturbance of a mechanical subsystem and the slow-varying matched disturbance of a hydraulic subsystem. The extended state observer algorithm is integrated into the adaptive backstepping controller to suppress the null bias of the average tracking error. The compound friction compensation includes a LuGre model-based compensation and a high-order disturbance observer, which can improve the tracking performance of system and avoids the excessive gain of observer. A large number of comparative experiments are conducted to verify the effective of the proposed controller.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"47 20","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138593966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-01DOI: 10.1177/09596518231208629
Yunze Tang, Jinghui Qiao, Yuxi Chen
The precise control of multi-joint manipulators presents significant challenges in the context of replacing internal liners of large grinding machines. These challenges arise due to the uncertainty of system parameters and external disturbance. A terminal sliding mode control based on a recursive stochastic configuration network is proposed to ensure that the system is stable, and it reduces system oscillations in this article. In addition, a disturbance observer based on recursive stochastic configuration network is designed to estimate and compensate for the uncertainties in the system, thereby improving the robustness of the system. To enhance the realism of the simulations, the simulation modeling process incorporated uncertainty parameters and external disturbance information. The simulation results demonstrated the effectiveness of the proposed terminal sliding mode control approach in meeting the practical control requirements. This accomplishment presents a valuable new method for controlling mechanical arms. The method is applicable under conditions of system uncertainty and external disturbance.
{"title":"Terminal sliding mode control based on recursive stochastic configuration network for ball mill lining replacement process","authors":"Yunze Tang, Jinghui Qiao, Yuxi Chen","doi":"10.1177/09596518231208629","DOIUrl":"https://doi.org/10.1177/09596518231208629","url":null,"abstract":"The precise control of multi-joint manipulators presents significant challenges in the context of replacing internal liners of large grinding machines. These challenges arise due to the uncertainty of system parameters and external disturbance. A terminal sliding mode control based on a recursive stochastic configuration network is proposed to ensure that the system is stable, and it reduces system oscillations in this article. In addition, a disturbance observer based on recursive stochastic configuration network is designed to estimate and compensate for the uncertainties in the system, thereby improving the robustness of the system. To enhance the realism of the simulations, the simulation modeling process incorporated uncertainty parameters and external disturbance information. The simulation results demonstrated the effectiveness of the proposed terminal sliding mode control approach in meeting the practical control requirements. This accomplishment presents a valuable new method for controlling mechanical arms. The method is applicable under conditions of system uncertainty and external disturbance.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"15 8","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138627445","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-25DOI: 10.1177/09596518231208650
Guotai Zhang, G. Shen, Yu Tang, Xiang Li
For the 2–degrees of freedom position tracking problem of the robotized hydraulic-driven roadheader with high nonlinearities and strong uncertainties, a practical disturbance observer–based backstepping sliding cascade control method together with an adaptive compensator is proposed and investigated. The presented methodology mainly includes a continuous nonsingular fast terminal sliding mode with the backstepping technique and the power reaching law with time-varying coefficients used to achieve satisfactory performance against the multi-source disturbances, two disturbance observers used to approximately estimate the unknown dynamics in the mechanical and hydraulic subsystem, respectively. Simultaneously, a continuous robustifying term is also utilized to compensate for the residual disturbances and enhance the robustness. The presented control method doesn’t need the precise model thanks to the auxiliary disturbance observer, and can ensure fast convergence and small tracking error thanks to the backstepping sliding cascade control and the adaptive robust compensator. Based on Lyapunov theory, stability of the overall closed-loop system is proved rigorously, and asymptotically bounded tracking performance of the robotic manipulator is guaranteed. Finally, 2–degrees of freedom trajectory tracking experiments are conducted, and comparative results effectively verify the superiorities of the proposed method.
{"title":"Disturbance observer–based backstepping sliding mode cascade control of 2–degrees of freedom hydraulic tunneling robot","authors":"Guotai Zhang, G. Shen, Yu Tang, Xiang Li","doi":"10.1177/09596518231208650","DOIUrl":"https://doi.org/10.1177/09596518231208650","url":null,"abstract":"For the 2–degrees of freedom position tracking problem of the robotized hydraulic-driven roadheader with high nonlinearities and strong uncertainties, a practical disturbance observer–based backstepping sliding cascade control method together with an adaptive compensator is proposed and investigated. The presented methodology mainly includes a continuous nonsingular fast terminal sliding mode with the backstepping technique and the power reaching law with time-varying coefficients used to achieve satisfactory performance against the multi-source disturbances, two disturbance observers used to approximately estimate the unknown dynamics in the mechanical and hydraulic subsystem, respectively. Simultaneously, a continuous robustifying term is also utilized to compensate for the residual disturbances and enhance the robustness. The presented control method doesn’t need the precise model thanks to the auxiliary disturbance observer, and can ensure fast convergence and small tracking error thanks to the backstepping sliding cascade control and the adaptive robust compensator. Based on Lyapunov theory, stability of the overall closed-loop system is proved rigorously, and asymptotically bounded tracking performance of the robotic manipulator is guaranteed. Finally, 2–degrees of freedom trajectory tracking experiments are conducted, and comparative results effectively verify the superiorities of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"293 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139236488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-15DOI: 10.1177/09596518231209542
Jichen Hu, Ming Zhu, Zeiwei Zheng, Tian Chen
This brief proposed an innovative fault detection method based on analytical data for the stratospheric airship control system. The control system considered is subject to both space disturbance and nonlinear characteristics; the faults of sensors and actuators are all taken into account. The proposed method is developed in two phases. In the first phase, the moving window kernel principal component analysis is employed to construct the fault detection model with the training data under normal operating conditions and update the fault detection model online until abnormal data are detected. Second, a fault detection model updating mechanism is designed to reduce computational complexity and cost with a clustering algorithm, which compounds the mean shift clustering with weighted Euclidean distance to reflect the data density distribution feature to make the updating to be adaptive. Finally, the proposed method is applied to detect fault for an illustrative simulation stratospheric airship control model. The fault detection results validate the effectiveness of proposed fault detection method for different sensor and actuator fault cases. Comparing to some extended moving window kernel principal component analysis method, the proposed method reduces the computational cost significantly.
{"title":"A data-based fault detection scheme for the stratospheric airship control system","authors":"Jichen Hu, Ming Zhu, Zeiwei Zheng, Tian Chen","doi":"10.1177/09596518231209542","DOIUrl":"https://doi.org/10.1177/09596518231209542","url":null,"abstract":"This brief proposed an innovative fault detection method based on analytical data for the stratospheric airship control system. The control system considered is subject to both space disturbance and nonlinear characteristics; the faults of sensors and actuators are all taken into account. The proposed method is developed in two phases. In the first phase, the moving window kernel principal component analysis is employed to construct the fault detection model with the training data under normal operating conditions and update the fault detection model online until abnormal data are detected. Second, a fault detection model updating mechanism is designed to reduce computational complexity and cost with a clustering algorithm, which compounds the mean shift clustering with weighted Euclidean distance to reflect the data density distribution feature to make the updating to be adaptive. Finally, the proposed method is applied to detect fault for an illustrative simulation stratospheric airship control model. The fault detection results validate the effectiveness of proposed fault detection method for different sensor and actuator fault cases. Comparing to some extended moving window kernel principal component analysis method, the proposed method reduces the computational cost significantly.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"105 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139274191","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-10DOI: 10.1177/09596518231202945
Sicheng Shan, Yanhui Tong, Xiaohang Li, Yuyuan Li
Considering that the perturbation of controller parameters may cause severe performance deterioration in practice, this work is focused on asynchronous resilient H ∞ control for discrete-time switched systems under average dwell time switching. The multiple non-monotonic Lyapunov function approach is employed to analyze the stability and H ∞ performance to reduce the conservation level. First, an H ∞ stability criterion is derived for general switched nonlinear systems, based on which a sufficient condition is further obtained for the resultant closed-loop system under asynchronous average dwell time switching. Then, a synthesis condition for a resilient output-feedback H ∞ controller is developed using Fensler’s lemma. Finally, the effectiveness and advantages of the proposed controller design method are demonstrated by two simulated examples.
{"title":"Asynchronous resilient H<sub>∞</sub> control for switched systems via multiple non-monotonic Lyapunov functions","authors":"Sicheng Shan, Yanhui Tong, Xiaohang Li, Yuyuan Li","doi":"10.1177/09596518231202945","DOIUrl":"https://doi.org/10.1177/09596518231202945","url":null,"abstract":"Considering that the perturbation of controller parameters may cause severe performance deterioration in practice, this work is focused on asynchronous resilient H ∞ control for discrete-time switched systems under average dwell time switching. The multiple non-monotonic Lyapunov function approach is employed to analyze the stability and H ∞ performance to reduce the conservation level. First, an H ∞ stability criterion is derived for general switched nonlinear systems, based on which a sufficient condition is further obtained for the resultant closed-loop system under asynchronous average dwell time switching. Then, a synthesis condition for a resilient output-feedback H ∞ controller is developed using Fensler’s lemma. Finally, the effectiveness and advantages of the proposed controller design method are demonstrated by two simulated examples.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":" 16","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135141620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-08DOI: 10.1177/09596518231199770
Xia Wu, Xu Yang, Jian Huang, Kaixiang Peng
Driven by the need for remaining useful life prediction of degraded motor systems with feedback controllers, a real-time updated Wiener stochastic process is adopted to model the performance degradation of motor systems. First, a closed-loop performance index of the motor system is derived incorporating the multiple slow time-varying characteristic of motor parameters. On this basis, the drift coefficient and diffusion coefficient of the Wiener degradation model are updated to obtain the prior maximum likelihood function with available historical data. It is followed by the iterative optimization of nonlinear feature parameter in the Wiener degradation model with taking the prior maximum likelihood function as the cost equation. The effectiveness of proposed remaining useful life prediction architecture for closed-loop motor systems is demonstrated by motor systems.
{"title":"Remaining useful life prediction for motor systems by iteratively updated wiener process based on closed-loop performance degradation monitoring","authors":"Xia Wu, Xu Yang, Jian Huang, Kaixiang Peng","doi":"10.1177/09596518231199770","DOIUrl":"https://doi.org/10.1177/09596518231199770","url":null,"abstract":"Driven by the need for remaining useful life prediction of degraded motor systems with feedback controllers, a real-time updated Wiener stochastic process is adopted to model the performance degradation of motor systems. First, a closed-loop performance index of the motor system is derived incorporating the multiple slow time-varying characteristic of motor parameters. On this basis, the drift coefficient and diffusion coefficient of the Wiener degradation model are updated to obtain the prior maximum likelihood function with available historical data. It is followed by the iterative optimization of nonlinear feature parameter in the Wiener degradation model with taking the prior maximum likelihood function as the cost equation. The effectiveness of proposed remaining useful life prediction architecture for closed-loop motor systems is demonstrated by motor systems.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"60 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135430353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-08DOI: 10.1177/09596518231208466
Ziang Xu, Qin Shi, Yujiang Wei, Xinxin Zheng, Chunrong Huang, Lin He
In this article, a disturbance estimation–based robust generalized predictive control approach is proposed for angle demand control of a steer-by-wire system. It consists of a generalized predictive controller and a nonlinear disturbance observer. First, the nonlinear disturbance observer is used to estimate the effects of the lumped disturbances, including model uncertainties, unmodeled dynamics, and external disturbances. Second, the estimate of the nonlinear disturbance observer is integrated into the generalized predictive controller design for front-wheel angle output prediction. Then, an explicit analytical form of the disturbance estimation–based robust generalized predictive controller is derived. In addition, rigorous stability analysis proves that the closed-loop system under the proposed control is stable. Finally, the developed control approach has been downloaded into a steering control unit and tested in real-world conditions using a vehicle test bench to fully realize steering by wire in engineering practice. Extensive simulations and experiments have been performed, and results show that the proposed control approach outperforms the comparative controllers regarding disturbance rejection, robust tracking performance under model uncertainties, and disturbances.
{"title":"Angle demand control of steer-by-wire system by disturbance estimation–based generalized predictive control approach","authors":"Ziang Xu, Qin Shi, Yujiang Wei, Xinxin Zheng, Chunrong Huang, Lin He","doi":"10.1177/09596518231208466","DOIUrl":"https://doi.org/10.1177/09596518231208466","url":null,"abstract":"In this article, a disturbance estimation–based robust generalized predictive control approach is proposed for angle demand control of a steer-by-wire system. It consists of a generalized predictive controller and a nonlinear disturbance observer. First, the nonlinear disturbance observer is used to estimate the effects of the lumped disturbances, including model uncertainties, unmodeled dynamics, and external disturbances. Second, the estimate of the nonlinear disturbance observer is integrated into the generalized predictive controller design for front-wheel angle output prediction. Then, an explicit analytical form of the disturbance estimation–based robust generalized predictive controller is derived. In addition, rigorous stability analysis proves that the closed-loop system under the proposed control is stable. Finally, the developed control approach has been downloaded into a steering control unit and tested in real-world conditions using a vehicle test bench to fully realize steering by wire in engineering practice. Extensive simulations and experiments have been performed, and results show that the proposed control approach outperforms the comparative controllers regarding disturbance rejection, robust tracking performance under model uncertainties, and disturbances.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"35 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135390240","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-08DOI: 10.1177/09596518231203110
Ruicheng Zhang, Zhiwen Li, Weizheng Liang
In this article, the problem of multiple fault detection, isolation and reconfiguration of the rolling mill main drive system containing external disturbances is investigated. Considering the nonlinear frictional damping between the rolls and the rolled parts, a nonlinear mathematical model of the main drive system of the mill is established. A comprehensive fault diagnosis scheme based on observer is addressed for this system subjected to unknown external interference. The proposed scheme is divided into two parts. In the first stage, a set of sliding mode observers is designed for system fault detection, and a fault isolation criterion is proposed based on observer redundancy and generalised residual set theory to reveal the fault source. In the second stage, combined with the iterative learning algorithm, an iterative learning-unknown input observer is constructed to realise the accurate estimation of the fault signal. Unlike the existing fault estimation methods, the iterative learning-unknown input observer designed in this article uses the state estimation error of the previous iteration to estimate the fault signal in the current iteration period. Using [Formula: see text] synthesis to design observers for the system will guarantee fault diagnosis robustness. The Lyapunov theory and linear matrix inequality are introduced to prove the convergence of the proposed observer. The simulation study of a 1780-mm hot strip mill evaluates the proposed scheme. Simulation results demonstrate that the sliding mode observer approach can detect faults in the main drive system and isolate faults accurately. In contrast, the iterative learning-unknown input observer method has the lowest fault reconfiguration error (99.87% smaller than the extended state observer, 99.77% smaller than the unknown input observer) and achieves accurate fault signal tracking.
{"title":"Fault detection and identification for rolling mill main drive system based on integrated observer under iterative learning strategy","authors":"Ruicheng Zhang, Zhiwen Li, Weizheng Liang","doi":"10.1177/09596518231203110","DOIUrl":"https://doi.org/10.1177/09596518231203110","url":null,"abstract":"In this article, the problem of multiple fault detection, isolation and reconfiguration of the rolling mill main drive system containing external disturbances is investigated. Considering the nonlinear frictional damping between the rolls and the rolled parts, a nonlinear mathematical model of the main drive system of the mill is established. A comprehensive fault diagnosis scheme based on observer is addressed for this system subjected to unknown external interference. The proposed scheme is divided into two parts. In the first stage, a set of sliding mode observers is designed for system fault detection, and a fault isolation criterion is proposed based on observer redundancy and generalised residual set theory to reveal the fault source. In the second stage, combined with the iterative learning algorithm, an iterative learning-unknown input observer is constructed to realise the accurate estimation of the fault signal. Unlike the existing fault estimation methods, the iterative learning-unknown input observer designed in this article uses the state estimation error of the previous iteration to estimate the fault signal in the current iteration period. Using [Formula: see text] synthesis to design observers for the system will guarantee fault diagnosis robustness. The Lyapunov theory and linear matrix inequality are introduced to prove the convergence of the proposed observer. The simulation study of a 1780-mm hot strip mill evaluates the proposed scheme. Simulation results demonstrate that the sliding mode observer approach can detect faults in the main drive system and isolate faults accurately. In contrast, the iterative learning-unknown input observer method has the lowest fault reconfiguration error (99.87% smaller than the extended state observer, 99.77% smaller than the unknown input observer) and achieves accurate fault signal tracking.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"3 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135391544","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-07DOI: 10.1177/09596518231204054
Ivan Hernandez, Wen Yu
In this article, we have designed an active prosthesis for the lower limb of a human. The unique design incorporates an exoskeletal extension that serves as a low-cost sensory framework, providing feedback on residual signals, namely the states of the hip and thigh. The controller takes advantage of system modeling and employs a simple proportional–derivative control. A stability analysis has been conducted. We have also provided simulations and analysis of the active prosthesis to evaluate the effectiveness of the design and control.
{"title":"Design and control of active lower limb prosthesis with sensorial frame","authors":"Ivan Hernandez, Wen Yu","doi":"10.1177/09596518231204054","DOIUrl":"https://doi.org/10.1177/09596518231204054","url":null,"abstract":"In this article, we have designed an active prosthesis for the lower limb of a human. The unique design incorporates an exoskeletal extension that serves as a low-cost sensory framework, providing feedback on residual signals, namely the states of the hip and thigh. The controller takes advantage of system modeling and employs a simple proportional–derivative control. A stability analysis has been conducted. We have also provided simulations and analysis of the active prosthesis to evaluate the effectiveness of the design and control.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"106 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135540389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-07DOI: 10.1177/09596518231204799
Rahul Ranjan Bharti, Santosha K Dwivedy
This article proposes an adaptive nonsingular fast terminal sliding mode control scheme with piecewise fast multi-power reaching law for tracking control of underactuated autonomous underwater vehicles under model uncertainties, ocean disturbances, and measurement noise. This control approach enhances the robustness and guarantees faster convergence of state error to zero in finite time while reducing the chattering effect. Utilizing the benefit of adaption law prevents overestimating control parameters, and it eliminates the need for the upper bound value of disturbances. The overall stability of the system is analyzed using the Lyapunov criterion. The results of the proposed approach are compared with adaptive nonsingular terminal sliding mode control and adaptive sliding mode control. The performance of the proposed control approach is evaluated by using the performance indices root mean square error and chattering indicator. The simulation results confirm the efficiency of the proposed approach.
{"title":"Adaptive nonsingular fast terminal sliding mode control for the tracking control of underactuated autonomous underwater vehicles","authors":"Rahul Ranjan Bharti, Santosha K Dwivedy","doi":"10.1177/09596518231204799","DOIUrl":"https://doi.org/10.1177/09596518231204799","url":null,"abstract":"This article proposes an adaptive nonsingular fast terminal sliding mode control scheme with piecewise fast multi-power reaching law for tracking control of underactuated autonomous underwater vehicles under model uncertainties, ocean disturbances, and measurement noise. This control approach enhances the robustness and guarantees faster convergence of state error to zero in finite time while reducing the chattering effect. Utilizing the benefit of adaption law prevents overestimating control parameters, and it eliminates the need for the upper bound value of disturbances. The overall stability of the system is analyzed using the Lyapunov criterion. The results of the proposed approach are compared with adaptive nonsingular terminal sliding mode control and adaptive sliding mode control. The performance of the proposed control approach is evaluated by using the performance indices root mean square error and chattering indicator. The simulation results confirm the efficiency of the proposed approach.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"294 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135474807","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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