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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...

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Autores principales: Wang, Shihao, Zheng, Shiqi, Deng, Yushu, Jiang, Zhouxiang, Song, Bao, Tang, Xiaoqi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9601223/
https://www.ncbi.nlm.nih.gov/pubmed/37420380
http://dx.doi.org/10.3390/e24101360
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author Wang, Shihao
Zheng, Shiqi
Deng, Yushu
Jiang, Zhouxiang
Song, Bao
Tang, Xiaoqi
author_facet Wang, Shihao
Zheng, Shiqi
Deng, Yushu
Jiang, Zhouxiang
Song, Bao
Tang, Xiaoqi
author_sort Wang, Shihao
collection PubMed
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.
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spelling pubmed-96012232022-10-27 Switching Adaptive Control with Applications on Robot Manipulators Wang, Shihao Zheng, Shiqi Deng, Yushu Jiang, Zhouxiang Song, Bao Tang, Xiaoqi Entropy (Basel) Article 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. MDPI 2022-09-25 /pmc/articles/PMC9601223/ /pubmed/37420380 http://dx.doi.org/10.3390/e24101360 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Wang, Shihao
Zheng, Shiqi
Deng, Yushu
Jiang, Zhouxiang
Song, Bao
Tang, Xiaoqi
Switching Adaptive Control with Applications on Robot Manipulators
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 Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9601223/
https://www.ncbi.nlm.nih.gov/pubmed/37420380
http://dx.doi.org/10.3390/e24101360
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AT jiangzhouxiang switchingadaptivecontrolwithapplicationsonrobotmanipulators
AT songbao switchingadaptivecontrolwithapplicationsonrobotmanipulators
AT tangxiaoqi switchingadaptivecontrolwithapplicationsonrobotmanipulators