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Article
Publication date: 8 March 2022

Rui Yu, Hua Zhou, Siyu Ma, Guifu Luo and Mingwei Lin

Hydrodynamic parameter estimation is significant for the velocity prediction of unmanned surface vehicles. Considering the field data’s uncertain nonlinearities (environmental…

Abstract

Purpose

Hydrodynamic parameter estimation is significant for the velocity prediction of unmanned surface vehicles. Considering the field data’s uncertain nonlinearities (environmental disturbances and measurement noise), this paper aims to propose a hybrid adaptive parameter estimation (HAPE) strategy.

Design/methodology/approach

First, a rough estimation of hydrodynamic parameters is used by the least squares method. Second, an improved adaptive parameter estimation algorithm is applied to compensate for the influence of uncertain nonlinearities and adjust the parameters within the rough range. Finally, it is proved that the calculated velocity asymptotically converges to the actual value during the parameter estimation procedure.

Findings

The numerical simulation and pool experiments are conducted in two scenarios of steady turning and sinusoidal thrust to verify the effectiveness of the proposed HAPE method. The results validate that the accuracy of the predicted velocity using the hydrodynamic model obtained by the HAPE strategy is better than the APE algorithm. In addition, the hydrodynamic parameters estimated with the sinusoidal thrust data are more applicable than the steady turning data.

Originality/value

This study proposes a HAPE strategy that considers the uncertain nonlinearities of the field data. This method provides a more accurate predicted velocity. Besides, as far as we know, it is the first time to analyze the influence of different test conditions on the accuracy of the predicted velocity.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 7 July 2020

Jiehao Li, Junzheng Wang, Shoukun Wang, Hui Peng, Bomeng Wang, Wen Qi, Longbin Zhang and Hang Su

This paper aims on the trajectory tracking of the developed six wheel-legged robot with heavy load conditions under uncertain physical interaction. The accuracy of trajectory…

Abstract

Purpose

This paper aims on the trajectory tracking of the developed six wheel-legged robot with heavy load conditions under uncertain physical interaction. The accuracy of trajectory tracking and stable operation with heavy load are the main challenges of parallel mechanism for wheel-legged robots, especially in complex road conditions. To guarantee the tracking performance in an uncertain environment, the disturbances, including the internal friction, external environment interaction, should be considered in the practical robot system.

Design/methodology/approach

In this paper, a fuzzy approximation-based model predictive tracking scheme (FMPC) for reliable tracking control is developed to the six wheel-legged robot, in which the fuzzy logic approximation is applied to estimate the uncertain physical interaction and external dynamics of the robot system. Meanwhile, the advanced parallel mechanism of the electric six wheel-legged robot (BIT-NAZA) is presented.

Findings

Co-simulation and comparative experimental results using the BIT-NAZA robot derived from the developed hybrid control scheme indicate that the methodology can achieve satisfactory tracking performance in terms of accuracy and stability.

Originality/value

This research can provide theoretical and engineering guidance for lateral stability of intelligent robots under unknown disturbances and uncertain nonlinearities and facilitate the control performance of the mobile robots in a practical system.

Details

Assembly Automation, vol. 40 no. 5
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 6 August 2018

Li Pan, Guanjun Bao, Fang Xu and Libin Zhang

This paper aims to present an adaptive robust sliding mode tracking controller for a 6 degree-of-freedom industrial assembly robot with parametric uncertainties and external…

Abstract

Purpose

This paper aims to present an adaptive robust sliding mode tracking controller for a 6 degree-of-freedom industrial assembly robot with parametric uncertainties and external disturbances. The controller is used to achieve both stringent trajectory tracking, accurate parameter estimations and robustness against external disturbances.

Design/methodology/approach

The controller is designed based on the combination of sliding mode control, adaptive and robust controls and hence has good adaptation and robustness abilities to parametric variations and uncertainties. The unknown parameter estimates are updated online based on a discontinuous projection adaptation law. The robotic dynamics is first formulated in both joint spaces and workspace of the robot’s end-effector. Then, the design procedure of the adaptive robust sliding mode tracking controller and the parameter update law is detailed.

Findings

Comparative tests are also conducted to verify the effectiveness of the proposed controller, which show that the proposed controller achieves significantly better dynamic trajectory tracking performances as compared with conventional proportional derivative controller and sliding mode controller under the same conditions.

Originality/value

This is a new innovation for industrial assembly robot to improve assembly automation.

Article
Publication date: 25 August 2022

Hangjun Zhang, Jinhui Fang, Jianhua Wei, Huan Yu and Qiang Zhang

This paper aims to present an adaptive sliding mode control (ASMC) for tunnel boring machine cutterhead telescopic system with uncertainties to achieve a high-precision trajectory…

Abstract

Purpose

This paper aims to present an adaptive sliding mode control (ASMC) for tunnel boring machine cutterhead telescopic system with uncertainties to achieve a high-precision trajectory in complex strata. This method could be applied to solve the problems caused by linear and nonlinear model uncertainties.

Design/methodology/approach

First, an integral-type sliding surface is defined to reduce the static tracking error. Second, a projection type adaptation law is designed to approximate the linear and nonlinear redefined parameters of the electrohydraulic system. Third, a nonlinear robust term with a continuous approximation function is presented for handling load force uncertainty and reducing sliding mode chattering. Moreover, Lyapunov theory is applied to guarantee the stability of the closed-loop system. Finally, the effectiveness of the proposed controller is proved by comparative experiments on a scaled test rig.

Findings

The linear and nonlinear model uncertainties lead to large variations in the dynamics of the mechanism and the tracking error. To achieve precise position tracking, an adaptation law was integrated into the sliding mode control which compensated for model uncertainties. Besides, the inherent sliding mode chattering was reduced by a continuous approximation function, while load force uncertainty was solved by a nonlinear robust feedback. Therefore, a novel ASMC for tunnel boring machine cutterhead telescopic system with uncertainties can improve its tracking precision and reduce the sliding mode chattering.

Originality/value

To the best of the authors’ knowledge, the ASMC is proposed for the first time to control the tunnel boring machine cutterhead telescopic system with uncertainties. The presented control is effective not only in control accuracy but also in parameter uncertainty.

Details

Industrial Robot: the international journal of robotics research and application, vol. 50 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 7 June 2023

Bingwei Gao, Wei Zhang, Lintao Zheng and Hongjian Zhao

The purpose of this paper is to design a third-order linear active disturbance rejection controller (LADRC) to improve the response characteristics and robustness of the…

Abstract

Purpose

The purpose of this paper is to design a third-order linear active disturbance rejection controller (LADRC) to improve the response characteristics and robustness of the electrohydraulic servo system.

Design/methodology/approach

The LADRC was designed by replacing the nonlinear functions in each part of ADRC with linear functions or linear combinations, and the parameters of each part of the LADRC were connected with their bandwidth through the pole configuration method to reduce the required tuning parameters, and used an improved grey wolf optimizer to tune the LADRC parameters.

Findings

The anti-interference control simulation and experiment on the LADRC, ADRC and proportion integration differentiation (PID) were carried out to test the robustness, anti-interference ability and superiority of the designed LADRC. The simulation and experiment results showed that the LADRC control and anti-interference control had excellent performance, and because of its simple structure and fewer parameters, LADRC was easier to implement and had a better control effect and anti-interference.

Originality/value

For the problems of parameter perturbation, unknown interference and inaccurate model in the electrohydraulic position servo system, the designed third-order LADRC has good tracking accuracy and anti-interference, has few parameters and is conducive to promotion.

Details

Robotic Intelligence and Automation, vol. 43 no. 3
Type: Research Article
ISSN: 2754-6969

Keywords

Article
Publication date: 17 June 2021

Nigar Ahmed and Mou Chen

The purpose of this research paper is to design a disturbance observer-based control based on the robust model reference adaptive backstepping sliding-mode control for attitude…

Abstract

Purpose

The purpose of this research paper is to design a disturbance observer-based control based on the robust model reference adaptive backstepping sliding-mode control for attitude quadrotor model subject to uncertainties and disturbances.

Design/methodology/approach

To estimate and reject the disturbance, a disturbance observer is designed for the exogenous disturbances with perturbation while a control criterion is developed for the tracking of desired output. To achieve the control performance, backstepping and sliding-mode control techniques are patched together to obtain robust chattering-free controller. Furthermore, a model reference adaptive control criterion is also combined with the design of robust control for the estimation and rejection of uncertainties and unmodeled dynamics of the attitude quadrotor.

Findings

The findings of this research work includes the design of a disturbance observer-based control for uncertain attitude quadrotor system with the ability of achieving tracking control objective in the presence of nonlinear exogenous disturbance with and without perturbation.

Practical implications

In practice, the quadrotor flight is opposed by different kinds of the disturbances. In addition, being an underactuated system, it is difficult to obtain an accurate mathematical model of quadrotor for the control design. Thus, a quadrotor model with uncertainties and disturbances is inevitable. Hence, it is necessary to design a control system with the ability to achieve the control objectives in the presence of uncertainties and disturbances.

Originality/value

Designing the control methods for quadrotor control without uncertainties and disturbances is a common practice. However, investigating the uncertain quadrotor plant in the presence of nonlinear disturbances is rarely taken into consideration for the control design. Hence, this paper presents a control algorithm to address the issues of the uncertainties and disturbances as well as investigate a control algorithm to achieve tracking performance.

Details

Aircraft Engineering and Aerospace Technology, vol. 93 no. 7
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 25 May 2022

Bingwei Gao, Wei Shen, Ye Dai and Yong Tai Ye

This paper aims to study a parameter tuning method for the active disturbance rejection control (ADRC) to improve the anti-interference ability and position tracking of the…

1456

Abstract

Purpose

This paper aims to study a parameter tuning method for the active disturbance rejection control (ADRC) to improve the anti-interference ability and position tracking of the performance of the servo system, and to ensure the stability and accuracy of practical applications.

Design/methodology/approach

This study proposes a parameter self-tuning method for ADRC based on an improved glowworm swarm optimization algorithm. The algorithm is improved by using sine and cosine local optimization operators and an adaptive mutation strategy. The improved algorithm is then used for parameter tuning of the ADRC to improve the anti-interference ability of the control system and ensure the accuracy of the controller parameters.

Findings

The authors designed an optimization model based on MATLAB, selected examples of simulation and experimental research and compared it with the standard glowworm swarm optimization algorithm, particle swarm algorithm and artificial bee colony algorithm. The results show that the response time of using the improved glowworm swarm optimization algorithm to optimize the auto-disturbance rejection control is short; there is no overshoot; the tracking process is relatively stable; the anti-interference ability is strong; and the optimization effect is better.

Originality/value

The innovation of this study is to improve the glowworm swarm optimization algorithm, propose a sine and cosine, local optimization operator, expand the firefly search space and introduce a new adaptive mutation strategy to adaptively adjust the mutation probability based on the fitness value, improve the global search ability of the algorithm and use the improved algorithm to adjust the parameters of the active disturbance rejection controller.

Article
Publication date: 30 March 2010

Chun‐Fei Hsu, Shuen‐Liang Wang, Ming‐Chia Li and Chih‐Min Lin

The DC‐DC converters which convert one level of electrical voltage to the desired level are widely used in many electrical peripherals. During the past two decade, many different…

Abstract

Purpose

The DC‐DC converters which convert one level of electrical voltage to the desired level are widely used in many electrical peripherals. During the past two decade, many different control laws have been developed. The proportional‐integral (PI) control and sliding‐mode control have been carried out for the DC‐DC converters since they are simple to implement and easy to design. However, its performance using PI control and sliding‐mode control is obviously quite limited. The purpose of this paper is to a self‐tuning nonlinear function control (STNFC) propose for the DC‐DC converters. The adaptation laws of the proposed STNFC system are derived in the sense of Lyapunov function, thus not only the controller parameters can be online tuned itself, but also the system's stability can be guaranteed.

Design/methodology/approach

In general, the accurate mathematical models of the DC‐DC converters are difficult to derive. This paper proposes a model‐free STNFC design method. Since the proposed STNFC uses a simple fuzzy system with three fuzzy rules base to implement the control law, the computational loading of the fuzzy inference mechanism is slight. So the proposed STNFC system is suitable for the real‐time practical applications. The controller parameters of the proposed STNFC system can online tune in the Lyapunov sense, thus the stability of closed‐loop system can be guaranteed.

Findings

The proposed STNFC system is applied to a DC‐DC converter based on a field‐programmable gate array chip. The experimental results are provided to demonstrate the proposed STNFC system can cope with the input voltage and load resistance variations to ensure the stability while providing fast transient response.

Originality/value

The proposed STNFC approach is interesting for the design of an intelligent control scheme. The main contributions of this paper are: the successful development of STNFC system without heavy computational loading. The parameter‐learning algorithm is design based on the Lyapunov stability theorem to guarantee the system stability; the successful applications of the STNFC system to control the forward DC‐DC converter. And, the proposed STNFC methodology can be easily extended to other DC‐DC converters.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 3 no. 1
Type: Research Article
ISSN: 1756-378X

Keywords

Article
Publication date: 17 February 2023

Shengqian Li and Xiaofan Zhang

An active disturbance rejection controller (ADRC) based on model compensation is proposed in this paper. The method should first be taken a nominal model of the robot to…

Abstract

Purpose

An active disturbance rejection controller (ADRC) based on model compensation is proposed in this paper. The method should first be taken a nominal model of the robot to compensate. Subsequently, the uncertain external disturbance is estimated and compensated is used an expansion state observer (ESO) in real time, which can reduce the estimating range of observation for ESO. The purpose of this paper is to suggest a novel method to improve the system tracking performance, as well as the dynamic and static performance index.

Design/methodology/approach

A welding robot is a complicated system with uncertainty, time-varying, strong coupling and a nonlinear system; it is more complex as if it is used in an underwater environment, and it is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements by the conventional proportional integral derivative method to realize automatic tracking of the seam.

Findings

The simulation experiment is carried out by MATLAB/Simulink, and the application experiment is recorded. The experimental results show that the control method is correct and effective, and the system’s tracking performance is stable, and the robustness and tracking accuracy of the system are also improved.

Originality/value

The seam gets plumper and smoother, with better continuity and no undercut phenomenon.

Details

Industrial Robot: the international journal of robotics research and application, vol. 50 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 12 June 2017

Khaoula Chikhaoui, Noureddine Bouhaddi, Najib Kacem, Mohamed Guedri and Mohamed Soula

The purpose of this paper is to develop robust metamodels, which allow propagating parametric uncertainties, in the presence of localized nonlinearities, with reduced cost and…

Abstract

Purpose

The purpose of this paper is to develop robust metamodels, which allow propagating parametric uncertainties, in the presence of localized nonlinearities, with reduced cost and without significant loss of accuracy.

Design/methodology/approach

The proposed metamodels combine the generalized polynomial chaos expansion (gPCE) for the uncertainty propagation and reduced order models (ROMs). Based on the computation of deterministic responses, the gPCE requires prohibitive computational time for large-size finite element models, large number of uncertain parameters and presence of nonlinearities. To overcome this issue, a first metamodel is created by combining the gPCE and a ROM based on the enrichment of the truncated Ritz basis using static residuals taking into account the stochastic and nonlinear effects. The extension to the Craig–Bampton approach leads to a second metamodel.

Findings

Implementing the metamodels to approximate the time responses of a frame and a coupled micro-beams structure containing localized nonlinearities and stochastic parameters permits to significantly reduce computation cost with acceptable loss of accuracy, with respect to the reference Latin Hypercube Sampling method.

Originality/value

The proposed combination of the gPCE and the ROMs leads to a computationally efficient and accurate tool for robust design in the presence of parametric uncertainties and localized nonlinearities.

Details

Engineering Computations, vol. 34 no. 4
Type: Research Article
ISSN: 0264-4401

Keywords

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