Adaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain Observer
In this paper, an observer-based adaptive fuzzy robust controller is proposed for trajectory tracking control of a bionic mechanical leg (BML) with unmeasured system states, dynamic uncertainties and external disturbances. A high gain observer (HGO) is constructed to estimate the unavailable joint v...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9461740/ |
| _version_ | 1818899048858386432 |
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| author | Lihui Liao Baoren Li Yuanyuan Wang Yi Xi Dijia Zhang Longlong Gao |
| author_facet | Lihui Liao Baoren Li Yuanyuan Wang Yi Xi Dijia Zhang Longlong Gao |
| author_sort | Lihui Liao |
| collection | DOAJ |
| description | In this paper, an observer-based adaptive fuzzy robust controller is proposed for trajectory tracking control of a bionic mechanical leg (BML) with unmeasured system states, dynamic uncertainties and external disturbances. A high gain observer (HGO) is constructed to estimate the unavailable joint velocities using the joint position feedback signals, while an adaptive fuzzy logic system (AFLS) is employed to address the lumped uncertainties. The nonlinear robust controller is then synthesized via backstepping method to improve the position tracking performance. The stability of the closed loop system is mathematically demonstrated via the Lyapunov’s stability theory. It is proven that under the proposed controller all the closed-loop signals are bounded and the trajectory tracking errors converge to a small neighborhood of the origin with appropriate design parameters. The effectiveness of the proposed control scheme is illustrated by simulation studies. |
| first_indexed | 2024-12-19T19:41:47Z |
| format | Article |
| id | doaj.art-a99ae61058d941e0babda910aca6eeaf |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T19:41:47Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a99ae61058d941e0babda910aca6eeaf2022-12-21T20:08:14ZengIEEEIEEE Access2169-35362021-01-01913403713405110.1109/ACCESS.2021.30911329461740Adaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain ObserverLihui Liao0https://orcid.org/0000-0002-4226-0199Baoren Li1https://orcid.org/0000-0003-1981-0743Yuanyuan Wang2Yi Xi3https://orcid.org/0000-0002-7235-9683Dijia Zhang4Longlong Gao5https://orcid.org/0000-0001-6201-6209School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, ChinaFESTO Pneumatics Centre, Huazhong University of Science and Technology, Wuhan, ChinaSchool of Mechanical Engineering, Hunan University of Science and Technology, Xiangtan, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, ChinaIn this paper, an observer-based adaptive fuzzy robust controller is proposed for trajectory tracking control of a bionic mechanical leg (BML) with unmeasured system states, dynamic uncertainties and external disturbances. A high gain observer (HGO) is constructed to estimate the unavailable joint velocities using the joint position feedback signals, while an adaptive fuzzy logic system (AFLS) is employed to address the lumped uncertainties. The nonlinear robust controller is then synthesized via backstepping method to improve the position tracking performance. The stability of the closed loop system is mathematically demonstrated via the Lyapunov’s stability theory. It is proven that under the proposed controller all the closed-loop signals are bounded and the trajectory tracking errors converge to a small neighborhood of the origin with appropriate design parameters. The effectiveness of the proposed control scheme is illustrated by simulation studies.https://ieeexplore.ieee.org/document/9461740/Bionic mechanical leg (BML)unmeasured system statesdynamic uncertaintyexternal disturbancehigh gain observer (HGO)fuzzy logic system (FLS) |
| spellingShingle | Lihui Liao Baoren Li Yuanyuan Wang Yi Xi Dijia Zhang Longlong Gao Adaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain Observer IEEE Access Bionic mechanical leg (BML) unmeasured system states dynamic uncertainty external disturbance high gain observer (HGO) fuzzy logic system (FLS) |
| title | Adaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain Observer |
| title_full | Adaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain Observer |
| title_fullStr | Adaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain Observer |
| title_full_unstemmed | Adaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain Observer |
| title_short | Adaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain Observer |
| title_sort | adaptive fuzzy robust control of a bionic mechanical leg with a high gain observer |
| topic | Bionic mechanical leg (BML) unmeasured system states dynamic uncertainty external disturbance high gain observer (HGO) fuzzy logic system (FLS) |
| url | https://ieeexplore.ieee.org/document/9461740/ |
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