Switching Adaptive Control with Applications on Robot Manipulators
This paper concentrates on the study of logic-based switching adaptive control. Two different cases will be considered. In the first case, the finite time stabilization problem for a class of nonlinear system is studied. Based on the recently developed adding a barrier power integrator technique, a...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-09-01
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| Series: | Entropy |
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| Online Access: | https://www.mdpi.com/1099-4300/24/10/1360 |
| _version_ | 1797473460901904384 |
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| author | Shihao Wang Shiqi Zheng Yushu Deng Zhouxiang Jiang Bao Song Xiaoqi Tang |
| author_facet | Shihao Wang Shiqi Zheng Yushu Deng Zhouxiang Jiang Bao Song Xiaoqi Tang |
| author_sort | Shihao Wang |
| collection | DOAJ |
| description | This paper concentrates on the study of logic-based switching adaptive control. Two different cases will be considered. In the first case, the finite time stabilization problem for a class of nonlinear system is studied. Based on the recently developed adding a barrier power integrator technique, a new logic-based switching adaptive control method is proposed. In contrast with the existing results, finite time stability can be achieved when the considered systems contain both fully unknown nonlinearties and unknown control direction. Moreover, the proposed controller has a very simple structure and no approximation methods, e.g., neural networks/fuzzy logic, are needed. In the second case, the sampled-data control for a class of nonlinear system is investigated. New sampled-data logic-based switching mechanism is proposed. Compared with previous works, the considered nonlinear system has an uncertain linear growth rate. The control parameters and the sampling time can be adjusted adaptively to render the exponential stability of the closed loop system. Applications in robot manipulators are conducted to verify the proposed results. |
| first_indexed | 2024-03-09T20:15:47Z |
| format | Article |
| id | doaj.art-add1736f6a0f4fe4b117c640d14b49fa |
| institution | Directory Open Access Journal |
| issn | 1099-4300 |
| language | English |
| last_indexed | 2024-03-09T20:15:47Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Entropy |
| spelling | doaj.art-add1736f6a0f4fe4b117c640d14b49fa2023-11-24T00:02:20ZengMDPI AGEntropy1099-43002022-09-012410136010.3390/e24101360Switching Adaptive Control with Applications on Robot ManipulatorsShihao Wang0Shiqi Zheng1Yushu Deng2Zhouxiang Jiang3Bao Song4Xiaoqi Tang5School of Automation, China University of Geosciences, Wuhan 430074, ChinaSchool of Automation, China University of Geosciences, Wuhan 430074, ChinaShaoyang Institute of Advanced Manufacturing Technology, Shaoyang 422000, ChinaInstitute of Electromechanical Engineering, Beijing Information Science & Technology University, 12 Xiaoying East Road, Qinghe, Haidian District, Beijing 100192, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaThis paper concentrates on the study of logic-based switching adaptive control. Two different cases will be considered. In the first case, the finite time stabilization problem for a class of nonlinear system is studied. Based on the recently developed adding a barrier power integrator technique, a new logic-based switching adaptive control method is proposed. In contrast with the existing results, finite time stability can be achieved when the considered systems contain both fully unknown nonlinearties and unknown control direction. Moreover, the proposed controller has a very simple structure and no approximation methods, e.g., neural networks/fuzzy logic, are needed. In the second case, the sampled-data control for a class of nonlinear system is investigated. New sampled-data logic-based switching mechanism is proposed. Compared with previous works, the considered nonlinear system has an uncertain linear growth rate. The control parameters and the sampling time can be adjusted adaptively to render the exponential stability of the closed loop system. Applications in robot manipulators are conducted to verify the proposed results.https://www.mdpi.com/1099-4300/24/10/1360adaptive controllogic-based switchingfinite-time controlsampled-data control |
| spellingShingle | Shihao Wang Shiqi Zheng Yushu Deng Zhouxiang Jiang Bao Song Xiaoqi Tang Switching Adaptive Control with Applications on Robot Manipulators Entropy adaptive control logic-based switching finite-time control sampled-data control |
| title | Switching Adaptive Control with Applications on Robot Manipulators |
| title_full | Switching Adaptive Control with Applications on Robot Manipulators |
| title_fullStr | Switching Adaptive Control with Applications on Robot Manipulators |
| title_full_unstemmed | Switching Adaptive Control with Applications on Robot Manipulators |
| title_short | Switching Adaptive Control with Applications on Robot Manipulators |
| title_sort | switching adaptive control with applications on robot manipulators |
| topic | adaptive control logic-based switching finite-time control sampled-data control |
| url | https://www.mdpi.com/1099-4300/24/10/1360 |
| work_keys_str_mv | AT shihaowang switchingadaptivecontrolwithapplicationsonrobotmanipulators AT shiqizheng switchingadaptivecontrolwithapplicationsonrobotmanipulators AT yushudeng switchingadaptivecontrolwithapplicationsonrobotmanipulators AT zhouxiangjiang switchingadaptivecontrolwithapplicationsonrobotmanipulators AT baosong switchingadaptivecontrolwithapplicationsonrobotmanipulators AT xiaoqitang switchingadaptivecontrolwithapplicationsonrobotmanipulators |