Adaptive fuzzy control for a class of MIMO underactuated systems with plant uncertainties and actuator deadzones: Design and experiments
T Yang, N Sun, Y Fang - IEEE Transactions on Cybernetics, 2021 - ieeexplore.ieee.org
In the field of modern industrial engineering, many mechanical systems are underactuated,
exhibiting strong nonlinear characteristics and high flexibility. However, the lack of control …
exhibiting strong nonlinear characteristics and high flexibility. However, the lack of control …
Adaptive neural network output feedback control of uncertain underactuated systems with actuated and unactuated state constraints
Underactuated systems are widely applied in industry, construction, manufacturing, etc., and
the complex working environment puts forward higher demands for safety and transient …
the complex working environment puts forward higher demands for safety and transient …
Reconfigurable tolerant control of uncertain mechanical systems with actuator faults: A sliding mode observer-based approach
This paper studies a key issue of developing reconfigurable fault-tolerant control to retain a
nominal feedback controller and simultaneously handles actuator faults and system …
nominal feedback controller and simultaneously handles actuator faults and system …
Adaptive neural network tracking control for underactuated systems with matched and mismatched disturbances
This paper studies neural network-based tracking control of underactuated systems with
unknown parameters and with matched and mismatched disturbances. Novel adaptive …
unknown parameters and with matched and mismatched disturbances. Novel adaptive …
Continuous sliding mode control strategy for a class of nonlinear underactuated systems
Sliding mode control (SMC), which is known to present strong robustness against various
disturbances, has been extensively employed on underactuated systems, whose control …
disturbances, has been extensively employed on underactuated systems, whose control …
Linear matrix inequalities for physically consistent inertial parameter identification: A statistical perspective on the mass distribution
With the increased application of model-based whole-body control in legged robots, there
has been a resurgence of research interest into methods for accurate system identification …
has been a resurgence of research interest into methods for accurate system identification …
Artificial-delay adaptive control for underactuated Euler–Lagrange robotics
Artificial-delay control is a method in which state and input measurements collected at an
immediate past time instant (ie, artificially delayed) are used to compensate the uncertain …
immediate past time instant (ie, artificially delayed) are used to compensate the uncertain …
Event-triggered consensus control for networked underactuated robotic systems
XY Yao, JH Park, HF Ding… - IEEE Transactions on …, 2020 - ieeexplore.ieee.org
In this article, the consensus of networked underactuated robotic systems subject to fixed
and switched communication networks is discussed by developing some novel event …
and switched communication networks is discussed by developing some novel event …
Stabilization of a class of underactuated nonlinear systems via underactuated back-stepping
The stabilization problem for a class of nonlinear systems is solved via a novel method
inspired by back-stepping. The method, that we call underactuated back-stepping, is …
inspired by back-stepping. The method, that we call underactuated back-stepping, is …
Geometric robot dynamic identification: A convex programming approach
Recent work has shed light on the often unreliable performance of constrained least-
squares estimation methods for robot mass-inertial parameter identification, particularly for …
squares estimation methods for robot mass-inertial parameter identification, particularly for …