期刊
IEEE TRANSACTIONS ON FUZZY SYSTEMS
卷 29, 期 9, 页码 2798-2809出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TFUZZ.2020.3007452
关键词
Servomotors; Uncertainty; Dynamical systems; Robust control; Nash equilibrium; Mechanical systems; Adaptive robust control; fuzzy set theory; Nash game theory; servo constraint; underactuated mechanical systems (UMSs)
资金
- University Synergy Innovation Program of Anhui Province [GXXT-2019-031]
- Fundamental Research Fund for the Central Universities of China [PA2019GDPK0066]
- Natural Science Foundation of Anhui Province [1908085QE194]
- Research and Development Fund Project of Hefei Research Institute [PA31054320]
This article addresses the adaptive robust control design and parameters optimization for underactuated mechanical systems. The uncertainty is described using fuzzy set theory to form fuzzy dynamical systems. A novel adaptive robust control with two tunable gain parameters is designed, considering nonholonomic servo constraints. By applying Nash game theory, an optimization method for the two gain parameters is established, guided by the Nash equilibrium values. Effectiveness of the designed optimal control is demonstrated through numerical simulation.
This article addresses the problems of the adaptive robust control design and the parameters optimization for a class of underactuated mechanical systems. We describe the uncertainty by using the fuzzy set theory to form the fuzzy dynamical systems. A novel adaptive robust control with two tunable gain parameters is designed based on the formed system, and the nonholonomic servo constraints are also considered in the control design. By employing the principle of the Nash game theory, we establish an optimization method for the two gain parameters, and the Nash equilibrium orients the optimal values of the two gain parameters. Finally, the effectiveness of the designed optimal control is shown by a numerical simulation.
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