Adaptive interval type-2 fuzzy control for multi-legged underwater robot with input saturation and full-state constraints

被引：63
|
作者：
Sun, Yanchao [1 ]
Chen, Xinyan [1 ]
Wang, Ziwei [2 ]
Qin, Hongde [1 ]
Jing, Ruijie [1 ]
机构：
[1] Harbin Engn Univ, Sci & Technol Underwater Vehicle Lab, Harbin, Peoples R China
[2] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
来源：
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 2023年 / 54卷 / 15期
基金：
中国国家自然科学基金;
关键词：
Multi-legged underwater robot; anti-windup compensator; interval type-2 fuzzy neural network; dynamic surface control; full-state constraints;
D O I：
10.1080/00207721.2020.1869346
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a trajectory tracking control strategy is proposed for multi-legged underwater robot in the presence of input saturation and full-state constraints. An anti-windup compensator is introduced to solve the input saturation problem, which can compensate for the saturation difference directly. Besides, the state constrains are addressed by a new state saturation function and the external unknown disturbances are solved by interval type-2 fuzzy neural network approximator. The dynamic surface control method combines with backstepping method is utilised to construct Lyapunov function. The control law and signals of the closed-loop system can be guaranteed to achieve semi-global uniform boundedness. Numerical simulations are presented to show the effectiveness of the proposed algorithm.
引用
收藏
页码：2859 / 2874
页数：16
相关论文
共 50 条
  • [1] Adaptive Tracking Control for Uncertain Unmanned Fire Fighting Robot With Input Saturation and Full-State Constraints
    Chen, Jiannan
    Mu, Dianrui
    Hua, Changchun
    Luo, Xi
    Zhang, Yu
    Sun, Fuchun
    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2024, 25 (09) : 12776 - 12783
  • [2] Adaptive tracking control for omnidirectional mobile robots with full-state constraints and input saturation
    Zheng W.-H.
    Jia Y.-M.
    Gongcheng Kexue Xuebao/Chinese Journal of Engineering, 2019, 41 (09): : 1176 - 1186
  • [3] Adaptive fault tolerant attitude tracking control for a quadrotor with input saturation and full-state constraints
    Zhao, Ziqian
    Zheng, Zewei
    Zhu, Ming
    Wu, Zhe
    2017 13TH IEEE INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA), 2017, : 46 - 51
  • [4] Tracking Control With Input Saturation and Full-State Constraints for Surface Vessels
    Wang, Yuanhui
    Jiang, Xiyun
    She, Wenchao
    Ding, Fuguang
    IEEE ACCESS, 2019, 7 : 144741 - 144755
  • [5] Adaptive fuzzy control for high-order nonlinear systems with time-varying full-state constraints and input saturation
    Liu, Jianqin
    Jiang, Yan
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2023, 37 (03) : 710 - 725
  • [6] Adaptive Fuzzy Control for High-Order Nonlinear Time-Delay Systems With Full-State Constraints and Input Saturation
    Wu, You
    Xie, Xue-Jun
    IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2020, 28 (08) : 1652 - 1663
  • [7] Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints
    He, Wei
    Chen, Yuhao
    Yin, Zhao
    IEEE TRANSACTIONS ON CYBERNETICS, 2016, 46 (03) : 620 - 629
  • [8] Adaptive fuzzy control for nonlinear uncertain pure-feedback systems with full-state and input constraints
    Jia, Fujin
    Lu, Junwei
    Li, Yongmin
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2021, 31 (10) : 4917 - 4932
  • [9] Adaptive Neural Fault-Tolerant Control for the Yaw Control of UAV Helicopters with Input Saturation and Full-State Constraints
    Zhang, Qiang
    Chen, Xia
    Xu, Dezhi
    APPLIED SCIENCES-BASEL, 2020, 10 (04):
  • [10] Adaptive fault-tolerant control for stratospheric airships with full-state constraints, input saturation, and external disturbances
    Gou, Huabei
    Zhu, Ming
    Zheng, Zewei
    Guo, Xiao
    Lou, Wenjie
    Yuan, Jiace
    ADVANCES IN SPACE RESEARCH, 2022, 69 (01) : 701 - 717
12345