Tackling mismatched uncertainty in robust constraint-following control of underactuated systems
被引:35
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作者:
Yin, Hui
论文数: 0引用数: 0
h-index: 0
机构:
South China Univ Technol, Sch Mech & Automot Engn, Guangzhou 510641, Guangdong, Peoples R ChinaSouth China Univ Technol, Sch Mech & Automot Engn, Guangzhou 510641, Guangdong, Peoples R China
Yin, Hui
[1
]
Chen, Ye-Hwa
论文数: 0引用数: 0
h-index: 0
机构:
Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USASouth China Univ Technol, Sch Mech & Automot Engn, Guangzhou 510641, Guangdong, Peoples R China
Chen, Ye-Hwa
[2
]
Huang, Jin
论文数: 0引用数: 0
h-index: 0
机构:
Tsinghua Univ, Sch Vehicle & Mobil, Beijing 100084, Peoples R ChinaSouth China Univ Technol, Sch Mech & Automot Engn, Guangzhou 510641, Guangdong, Peoples R China
Huang, Jin
[3
]
论文数: 引用数:
h-index:
机构:
Lu, Hui
[1
]
机构:
[1] South China Univ Technol, Sch Mech & Automot Engn, Guangzhou 510641, Guangdong, Peoples R China
[2] Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA
[3] Tsinghua Univ, Sch Vehicle & Mobil, Beijing 100084, Peoples R China
The mismatched uncertainty makes the control for underactuated systems an intractable problem in the control field. This paper targets this problem based on constraint-following. The uncertainty is (possibly fast) time-varying and bounded. The control goal is to drive underactuated systems to follow prescribed constraints, which may be holonomic or non-holonomic, linear or nonlinear with respect to the velocity. The control is designed in two steps. First, the nominal control without addressing uncertainties and initial condition deviations is investigated. Second, we meticulously decompose uncertainty into matched and mismatched portions. This decomposition makes the mismatched uncertainty "disappear" in the stability analysis. Consequently, we are able to design a class of robust constraint-following controls free from mismatched uncertainty and only based on matched uncertainty. By the Lyapunov approach, we show that the proposed robust controls guarantee uniform boundedness and uniform ultimate boundedness for underactuated systems. Simulation results on a mobile robot are given for demonstrations. (c) 2020 Elsevier Inc. All rights reserved.
机构:
Nanjing Tech Univ, Inst Intelligent Mfg, Nanjing 210009, Peoples R ChinaNanjing Tech Univ, Inst Intelligent Mfg, Nanjing 210009, Peoples R China
Wei, Cui
Chen, Ye-Hwa
论文数: 0引用数: 0
h-index: 0
机构:
Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USANanjing Tech Univ, Inst Intelligent Mfg, Nanjing 210009, Peoples R China
Chen, Ye-Hwa
Chai, Tianyou
论文数: 0引用数: 0
h-index: 0
机构:
Northeastern Univ, State Key Lab Synthet Automation Proc Ind, Shenyang 110819, Peoples R ChinaNanjing Tech Univ, Inst Intelligent Mfg, Nanjing 210009, Peoples R China
Chai, Tianyou
Fu, Jun
论文数: 0引用数: 0
h-index: 0
机构:
Northeastern Univ, State Key Lab Synthet Automation Proc Ind, Shenyang 110819, Peoples R ChinaNanjing Tech Univ, Inst Intelligent Mfg, Nanjing 210009, Peoples R China
机构:
Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USAGeorgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA
Chen, Ye-Hwa
Zhang, Xinrong
论文数: 0引用数: 0
h-index: 0
机构:
Changan Univ, Dept Mech & Elect Engn, Xian, Peoples R ChinaGeorgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA
Zhang, Xinrong
[J].
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,
2010,
347
(01):
: 69
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86
机构:
Hefei Univ Technol, Sch Automot & Transportat Engn, Hefei 230009, Anhui, Peoples R China
Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USAHefei Univ Technol, Sch Automot & Transportat Engn, Hefei 230009, Anhui, Peoples R China
Sun, Hao
Zhao, Han
论文数: 0引用数: 0
h-index: 0
机构:
Hefei Univ Technol, Sch Mech Engn, Hefei 230009, Anhui, Peoples R ChinaHefei Univ Technol, Sch Automot & Transportat Engn, Hefei 230009, Anhui, Peoples R China
Zhao, Han
Huang, Kang
论文数: 0引用数: 0
h-index: 0
机构:
Hefei Univ Technol, Sch Mech Engn, Hefei 230009, Anhui, Peoples R ChinaHefei Univ Technol, Sch Automot & Transportat Engn, Hefei 230009, Anhui, Peoples R China
Huang, Kang
Zhen, Shengchao
论文数: 0引用数: 0
h-index: 0
机构:
Hefei Univ Technol, Hefei 230009, Peoples R China
George W Woodruff Sch Mech Engn, Atlanta, GA USAHefei Univ Technol, Sch Automot & Transportat Engn, Hefei 230009, Anhui, Peoples R China
Zhen, Shengchao
Chen, Ye-Hwa
论文数: 0引用数: 0
h-index: 0
机构:
Georgia Inst Technol, Sch Mech Engn, Atlanta, GA 30332 USAHefei Univ Technol, Sch Automot & Transportat Engn, Hefei 230009, Anhui, Peoples R China
机构:
Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410082, Hunan, Peoples R China
Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USAHunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410082, Hunan, Peoples R China
Huang, Qingmin
Chen, Ye-Hwa
论文数: 0引用数: 0
h-index: 0
机构:
Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USAHunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410082, Hunan, Peoples R China
Chen, Ye-Hwa
Zhong, Zhihua
论文数: 0引用数: 0
h-index: 0
机构:
Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410082, Hunan, Peoples R ChinaHunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410082, Hunan, Peoples R China
机构:
Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha, Peoples R ChinaHunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha, Peoples R China
Liu, Yifan
Chen, Ye-Hwa
论文数: 0引用数: 0
h-index: 0
机构:
Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA USAHunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha, Peoples R China
Chen, Ye-Hwa
Yu, Dejie
论文数: 0引用数: 0
h-index: 0
机构:
Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha, Peoples R ChinaHunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha, Peoples R China
Yu, Dejie
Yin, Hui
论文数: 0引用数: 0
h-index: 0
机构:
Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha, Peoples R China
South China Univ Technol, Sch Mech & Automot Engn, Guangzhou, Peoples R China
Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410082, Peoples R ChinaHunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha, Peoples R China