The Experts below are selected from a list of 2922 Experts worldwide ranked by ideXlab platform
L.e. Ramos-velasco - One of the best experts on this subject based on the ideXlab platform.
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CONIELECOMP - Suboptimal robust linear Visual Servoing for an Underactuated System with delays
2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP), 2010Co-Authors: A. Benitez-morales, O. Santos, L.e. Ramos-velascoAbstract:This article synthesized suboptimal control for an Underactuated System with delays; it also presents a robust stability dependent to delay. Using dynamic programming, an optimal quadratic regulator (LQR) controller is synthesized, which is then applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for both time-invariant case and for time-variant case. We presented an application in Visual Servoing for the inverted pendulum.
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Suboptimal robust linear Visual Servoing for an Underactuated System with delays
2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP), 2010Co-Authors: A. Benitez-morales, O. Santos, L.e. Ramos-velascoAbstract:This article synthesized suboptimal control for an Underactuated System with delays; it also presents a robust stability dependent to delay. Using dynamic programming, an optimal quadratic regulator (LQR) controller is synthesized, which is then applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for both time-invariant case and for time-variant case. We presented an application in Visual Servoing for the inverted pendulum.
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Experimental results: Suboptimal robust linear visual servoing with delay for an Underactuated System
2010 15th International Conference on Methods and Models in Automation and Robotics, 2010Co-Authors: A. Benitez-morales, O. Santos, L.e. Ramos-velascoAbstract:This article synthesized suboptimal control for an Underactuated System with delays; it also presents delay-dependent robust stability. A linear quadratic regulator (LQR) controller is synthesized using dynamic programming, which is applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for time-invariant and time-variant case. We presented experimental results of the Visual Servoing for the inverted pendulum.
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Vision Based Control of an Underactuated System Using a Reduced Observer
Electronics Robotics and Automotive Mechanics Conference (CERMA'06), 2006Co-Authors: E.s. Espinoza-quesada, L.e. Ramos-velascoAbstract:We present a simulation and partial experimental results in visual servo control of an Underactuated System with a dynamic feedback controller from an uncalibrated camera. We incorporate a richer sensing, such as vision, into traditional feedback control schemes
Yongji Wang - One of the best experts on this subject based on the ideXlab platform.
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sliding mode control with an extended disturbance observer for a class of Underactuated System in cascaded form
Nonlinear Dynamics, 2017Co-Authors: Feng Ding, Yongji Wang, Jian Huang, Junmin Zhang, Shunfan HeAbstract:A sliding mode controller based on an extended disturbance observer is investigated to control a class of Underactuated System in this paper. By using strict feedback technique, the Underactuated System is presented as a special cascade form. First, an extended disturbance observer is designed to estimate the unknown external disturbances and model uncertainties of the Underactuated System. Furthermore, a sliding mode control strategy is proposed to stabilize the Underactuated part directly and drive the variables to the sliding mode surface. Finally, combining the sliding mode controller with the extended disturbance observer, a sliding mode controller with disturbance observer is designed. The stability of the overall System is proved and a numerical example is presented to illustrate the effectiveness of the proposed disturbance observer and controller.
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Sliding mode control with nonlinear disturbance observer for a class of Underactuated System
Proceedings of the 32nd Chinese Control Conference, 2013Co-Authors: Jian Huang, Feng Ding, Yongji WangAbstract:In this study, a sliding mode controller based on nonlinear disturbance observer is investigated to control a class of Underactuated System which is in cascaded form. By using strict feedback, the Underactuated System is presented as a special cascade normal form convenient for controller design. A sliding mode controller is designed to stabilize underacturated plant directly and drive the variables to the sliding surface. In order to improve performance and robustness, a nonlinear disturbance observer was designed to compensate for external disturbances and model uncertainties. The theoretical results are illustrated by simulations on the acrobot. The simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.
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Terminal sliding mode control of mobile wheeled inverted pendulum
… Identification & Control ( …, 2012Co-Authors: Lifei Mao, Feng Ding, Yongji WangAbstract:The mobile wheeled inverted pendulum is widely used in many robotic applications and also paid attention by theorists due to its essentially unstable. The equilibrium control and velocity control of a mobile wheeled inverted pendulum are discussed in this paper. Based on the three-dimensional (3D) dynamic model of this Underactuated System running on the flat ground derived by Lagrange's motion equation, a terminal sliding mode control (TSMC) is proposed to ensure the Underactuated System can be self-balanced and variables converge to desired states. By using the proposed controller, the System can stay at the equilibrium or track a given yaw angle. Numerical simulations are provided to verify and illustrate the effectiveness of the proposed model and controllers. © 2012 Huazhong Univ of Sci & Tec.
Anca L. Ralescu - One of the best experts on this subject based on the ideXlab platform.
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adaptive hierarchical sliding mode control based on fuzzy neural network for an Underactuated System
Advances in Mechanical Engineering, 2018Co-Authors: Xiaorong Huang, Anca L. Ralescu, Haibo HuangAbstract:We present an adaptive hierarchical sliding mode control based on fuzzy neural network for a class of Underactuated Systems to solve the problem of high-precision trajectory tracking. This System i...
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adaptive hierarchical sliding mode control based on fuzzy neural network for an Underactuated System
2018 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), 2018Co-Authors: Xiaorong Huang, Anca L. RalescuAbstract:We present an adaptive hierarchical sliding mode control based on fuzzy neural network (AFNNHSMC) for a class of Underactuated nonlinear Systems. The approach is applied to the problem of high-precision trajectory tracking. The Underactuated nonlinear System is viewed as several subSystems. One subSystem is used to design the first layer sliding surface, which constructs the second layer sliding surface with another subSystem. When the top layer, the nth layer, includes all the subSystems, the design process is finished. Meanwhile, the equivalent control law and the switching control law are achieved at every layer. Because the hierarchical sliding mode control (HSMC) law relies excessively on the requirement of detailed information of the Underactuated dynamic System, and because that method causes an inevitable chattering phenomenon, an online fuzzy neural network (FNN) System is applied to mimic the HSMC law. Moreover, the bounds of System uncertainties, time-varying external disturbances, and modeling error caused by the fuzzy neural network System are estimated online by a robust term. The stability of the closed-loop System is guaranteed based on the Lyapunov theory and the Barbalat's Lemma. Finally, the example of a single-pendulum-type overhead crane System is simulated and used to verify the effectiveness and robustness of the proposed method compared with the conventional HSMC method.
Chiang-cheng Chiang - One of the best experts on this subject based on the ideXlab platform.
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Observer-Based Robust Adaptive Fuzzy Control for Uncertain Underactuated Systems with Time Delay and Dead-Zone Input
2020Co-Authors: Chiang-cheng Chiang, Li-chung ChangAbstract:This paper investigates the observer-based robust adaptive fuzzy control problem for a class of uncertain Underactuated Systems with time delay and dead-zone input. Within this method, the state observer is developed for estimating the unmeasured states in the Underactuated System. The fuzzy logic Systems are used to approximate the unknown nonlinear functions, and some adaptive laws are introduced to estimate unknown parameters. The dead-zone input which is one of the significant input constraints often exists in many practical industrial control Systems. By employing a Lyapunov-Krasovskii functional, it is verified that the proposed controller ensures that all the signals in the closed-loop System are bounded. Simulation results are illustrated to demonstrate the regulation performance of the System output and state estimation by the proposed control method.
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FUZZ-IEEE - Model Reference Sliding Mode Control For Uncertain Underactuated Systems With Time Delay
2018 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), 2018Co-Authors: Chiang-cheng ChiangAbstract:This paper proposes and analyzes the model reference sliding mode control strategy for a class of uncertain Underactuated Systems with time delay. The desired index of performance is proposed for the reference model. The fuzzy logic System for the uncertain Underactuated System with time delay is employed to approximate the unknown nonlinear functions such that some adaptive laws can be established to estimate the unknown parameters and the upper bounds of the unknown disturbances. By introducing the aggregated hierarchical structure into sliding mode control (SMC) design, an aggregated hierarchical structure sliding-mode controller (AHSSMC) is developed. The controller is designed based on Lyapunov-Krasovskii functional to stabilize the uncertain Underactuated System with time delay and achieve good tracking performance. Finally, a simulation example is illustrated to demonstrate the effectiveness of this proposed control approach.
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FUZZ-IEEE - Robust observer-based fuzzy incremental sliding-mode control of Underactuated Systems
2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), 2016Co-Authors: Chiang-cheng Chiang, Yu-sheng YangAbstract:A robust observer-based fuzzy incremental sliding mode control approach is proposed in this paper for a class of uncertain Underactuated Systems. The observer is utilized to estimate the System states that are unavailable for measurement. The first-level sliding surface is defined at first, and then one of the left states is employed to construct the next sliding surfaces until the last sliding surface is constructed. The fuzzy logic System is applied to approximate the unknown nonlinear functions. Moreover, some adaptive laws are introduced to estimate the upper bounds of unknown disturbances. The stability of the Underactuated System is analyzed based on Lyapunov stability theorem. The proposed controller ensures the robust stability of the Underactuated System. Finally, simulation example is illustrated to demonstrate the effectiveness of this proposed control approach.
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FUZZ-IEEE - Output tracking control for uncertain Underactuated Systems based on fuzzy sliding mode control approach
2012 IEEE International Conference on Fuzzy Systems, 2012Co-Authors: Chiang-cheng Chiang, Chia-chen HuAbstract:This paper proposes the fuzzy sliding mode control approach to deal with the output tracking of the uncertain Underactuated System. It is well-known that the presence of uncertainties which include modeling error, unmodeled dynamics, external disturbances and parameter variations is a very common problem in various kinds of engineering Systems. First, the whole Underactuated System is divided into several different subSystems. The first-level sliding surfaces are defined for each subSystem. Hence, we further construct a second-level surface from these first-level sliding surfaces. The fuzzy logic Systems and some adaptive laws are used to approximate the unknown nonlinear functions and estimate the upper bounds of the unknown disturbances, respectively. Based on Lyapunov stability theorem and the theory of sliding mode control, the proposed control scheme not only ensures the robust stability of the uncertain Underactuated System but also obtains good tracking performance. Finally, a simulated example is given to show the validity of the proposed control method.
Feng Ding - One of the best experts on this subject based on the ideXlab platform.
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sliding mode control with an extended disturbance observer for a class of Underactuated System in cascaded form
Nonlinear Dynamics, 2017Co-Authors: Feng Ding, Yongji Wang, Jian Huang, Junmin Zhang, Shunfan HeAbstract:A sliding mode controller based on an extended disturbance observer is investigated to control a class of Underactuated System in this paper. By using strict feedback technique, the Underactuated System is presented as a special cascade form. First, an extended disturbance observer is designed to estimate the unknown external disturbances and model uncertainties of the Underactuated System. Furthermore, a sliding mode control strategy is proposed to stabilize the Underactuated part directly and drive the variables to the sliding mode surface. Finally, combining the sliding mode controller with the extended disturbance observer, a sliding mode controller with disturbance observer is designed. The stability of the overall System is proved and a numerical example is presented to illustrate the effectiveness of the proposed disturbance observer and controller.
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Sliding mode control with nonlinear disturbance observer for a class of Underactuated System
Proceedings of the 32nd Chinese Control Conference, 2013Co-Authors: Jian Huang, Feng Ding, Yongji WangAbstract:In this study, a sliding mode controller based on nonlinear disturbance observer is investigated to control a class of Underactuated System which is in cascaded form. By using strict feedback, the Underactuated System is presented as a special cascade normal form convenient for controller design. A sliding mode controller is designed to stabilize underacturated plant directly and drive the variables to the sliding surface. In order to improve performance and robustness, a nonlinear disturbance observer was designed to compensate for external disturbances and model uncertainties. The theoretical results are illustrated by simulations on the acrobot. The simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.
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Terminal sliding mode control of mobile wheeled inverted pendulum
… Identification & Control ( …, 2012Co-Authors: Lifei Mao, Feng Ding, Yongji WangAbstract:The mobile wheeled inverted pendulum is widely used in many robotic applications and also paid attention by theorists due to its essentially unstable. The equilibrium control and velocity control of a mobile wheeled inverted pendulum are discussed in this paper. Based on the three-dimensional (3D) dynamic model of this Underactuated System running on the flat ground derived by Lagrange's motion equation, a terminal sliding mode control (TSMC) is proposed to ensure the Underactuated System can be self-balanced and variables converge to desired states. By using the proposed controller, the System can stay at the equilibrium or track a given yaw angle. Numerical simulations are provided to verify and illustrate the effectiveness of the proposed model and controllers. © 2012 Huazhong Univ of Sci & Tec.
