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Article
Automation & Control Systems
Saleh Mobayen et al.
Summary: In this article, an adaptive non-singular terminal sliding mode controller (NTSMC) is proposed to enhance the robust stability of a category of non-linear dynamic systems in the presence of external disturbances. The proposed approach utilizes NTSMC to achieve robust performance with finite time convergence and singularity-free dynamics. It also employs Barrier Functions (BFs) as an adaptive method for NTSMC to ensure the convergence of tracking errors to a predefined neighborhood of the origin without requiring knowledge of disturbance bounds. Lyapunov-based stability analysis is conducted to demonstrate the asymptotic convergence of tracking errors. The effectiveness and performance of the proposed approach are validated through simulations and experiments.
Article
Computer Science, Artificial Intelligence
Mien Van et al.
Summary: This article aims to address three major issues in fault tolerant control (FTC) for robot manipulators: improving the response time, reducing tracking errors and chattering, and increasing the robustness of FTC; reducing the requirement of robot dynamics knowledge for model-based FTC; achieving global fixed-time convergence of the system. An adaptive fuzzy backstepping control is proposed to enhance system tracking performance without the need for complete prior knowledge. The fixed time convergence is mathematically proven and the performance is demonstrated for a PUMA560 robot FTC.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2023)
Article
Engineering, Electrical & Electronic
Anh Tuan Vo et al.
Summary: This work proposes a hybrid trajectory tracking control algorithm (HTCA) for robot manipulators with uncertain dynamics and external disturbances. The control algorithm includes a uniform second-order sliding mode disturbance observer (USOSMDO) for active disturbance rejection and a fixed-time singularity-free terminal sliding surface (FxSTSS) for fixed-time convergence of the tracking control error. The HTCA is formed based on the FxSTSS and the fixed-time power rate reaching law (FxPRRL) using information from the USOSMDO. Numerical simulations show the effectiveness and advantages of the proposed HTCA applied to a FARA robot.
Article
Mathematics, Applied
Tianwei Zhang et al.
Summary: This paper establishes the basic structure of the exponential Euler difference form for Caputo-Fabrizio fractional-order differential equations (CF-FODEs) with multiple lags and proposes a fractional PECE algorithm to solve this implicit difference. The global dynamics of the discrete-time CF-FODEs is discussed from the viewpoint of control theory.
APPLIED MATHEMATICS LETTERS
(2022)
Article
Chemistry, Multidisciplinary
Janis Arents et al.
Summary: Industrial robots and associated control methods are continuously developing, and with recent progress in artificial intelligence, new perspectives in control strategies have emerged, leading to the possibility of cognitive robots. AI-based robotic systems are becoming a focal point due to their flexibility and deep understanding of complex manufacturing processes, which enhance competitiveness. This review highlights the importance of smart industrial robot control in future factories and explores current trends in learning strategies and methods, including computer vision, deep reinforcement learning, and imitation learning, along with their potential applications in manufacturing. Gaps, challenges, limitations, and open issues are also identified.
APPLIED SCIENCES-BASEL
(2022)
Article
Automation & Control Systems
Mien Van et al.
Summary: In this paper, a global finite-time cooperative control method is proposed for cooperative multiple manipulators. The proposed control scheme combines a finite-time disturbance observer (FTDO) and a finite-time integral sliding mode controller (FTISMC) to achieve high robustness against model uncertainties and disturbances in the system.
ASIAN JOURNAL OF CONTROL
(2022)
Article
Chemistry, Analytical
Thanh Nguyen Truong et al.
Summary: This research proposes an improved control approach based on real-time Prescribed Performance Control (PPC) to address the dynamic uncertainty and exterior perturbations in magnetic levitation systems. By introducing a modified function and an improved sliding mode observer, the controlled errors quickly converge to the equilibrium point within a prescribed performance range. The combination of the proposed control methods ensures stable positioning of the controlled ball and achieves impressive performance in terms of tracking accuracy, fast convergence, stabilization, and chattering reduction.
Article
Automation & Control Systems
Thanh Nguyen Truong et al.
Summary: A neural network-based non-singular fast terminal sliding mode control method is proposed for path tracking control of uncertain nonlinear systems, achieving faster convergence time, higher tracking accuracy, and less chattering with strong control performance for the entire closed-loop control system.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Engineering, Marine
Alireza Hosseinnajad et al.
Summary: This paper focuses on designing a fault-tolerant control system for an underwater remotely operated vehicle, considering the presence of unknown vehicle dynamics, saturation, and rate limits of the thrusters. A novel variable-exponent finite-time controller based on homogeneity is proposed to improve performance and achieve faster convergence. Stability analyses and phase plane analyses demonstrate the superiority of the proposed controller in terms of convergence speed and transient performance.
Article
Chemistry, Analytical
Anh Tuan Vo et al.
Summary: This paper investigates the problem of an APPTMC for manipulators and proposes several improved methods, including modified PPF, modified NISMS, fixed-time USOSMO, and ASTwCL. An observer-based control solution is synthesized from these methods to achieve PCP in the sense of finite-time Lyapunov stability, significantly improving precision, robustness, and chattering reduction.
Article
Mathematics
Mai-The Vu et al.
Summary: This paper presents an application of an adaptive fuzzy controller in a cable-driven parallel robot. The study finds that the proposed controller performs better in terms of system performance tracking and control speed compared to the robust method.
Article
Mathematics
Ayman A. Aly et al.
Summary: This paper proposes an adaptive neural network approach based on the integral nonsingular terminal sliding mode control method for fixed-time position tracking control of a wheelchair upper-limb exoskeleton robot system. The effectiveness of the proposed method is demonstrated through simulation results.
Article
Mathematics
Amin Najafi et al.
Summary: This paper proposes an adaptive barrier fast terminal sliding mode control approach for quadrotor unmanned aerial vehicles, which aims to mitigate external disturbances, parametric uncertainties, and actuator faults. The approach utilizes an adaptive barrier function and a fast terminal sliding mode control strategy to achieve finite-time convergence of the output variables. The obtained results demonstrate the effectiveness of the proposed approach in dealing with high disturbances and actuator faults while maintaining trajectory and sliding surface convergence.
Article
Automation & Control Systems
Zhi-Gang Zhou et al.
Summary: This paper investigates the prescribed performance fixed-time tracking control problem for a class of second-order nonlinear systems with bounded disturbance and actuator saturation limit. A robust adaptive fixed-time tracking controller is designed to solve the problem, which requires no upper bound of the disturbance. Numerical simulations demonstrate the effectiveness and robustness of the proposed controller.
INTERNATIONAL JOURNAL OF CONTROL
(2021)
Article
Automation & Control Systems
Guanghui Wen et al.
Summary: This paper investigates the finite-time control problem for a class of double integrator systems under state constraints, with an improved finite-time controller designed with state-dependent gains. The finite-time stability of the closed-loop system under state constraints is proven based on homogeneous system theory. The results show that the system states can be kept within the constrained region.
Article
Automation & Control Systems
Mien Van et al.
Summary: This paper proposes a robust fault tolerant control for robot manipulators that provides global fixed-time stability. The simulation results confirm the outstanding fault diagnosis and fault-tolerant capabilities of the proposed approach.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2021)
Article
Chemistry, Analytical
Anh Tuan Vo et al.
Summary: A robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed in this paper. The strategy combines fixed-time nonsingular terminal sliding mode control method and a novel observer design to achieve global fixed time stability. Simulation on an industrial robot manipulator confirmed the effectiveness of the proposed control strategy.
Article
Engineering, Electrical & Electronic
Xinghuo Yu et al.
Summary: Sliding mode control (SMC) is a popular control technology known for its simplicity and robustness against uncertainties and disturbances, with its foundation based on Lyapunov theory. Terminal sliding mode control (TSMC), a novel class of SMC, offers tunable finite-time convergence, fast response, high precision, and strong robustness. Interest in TSMC has been increasing, and this paper provides an overview of its theory, applications, key technical issues, and future challenges.
IEEE OPEN JOURNAL OF THE INDUSTRIAL ELECTRONICS SOCIETY
(2021)
Article
Computer Science, Information Systems
Anh Tuan Vo et al.
Summary: A new robust control method is developed in this research for trajectory tracking control of uncertain magnetic levitation systems, achieving fixed-time convergence, robust stabilization, and high accuracy. The hybrid controller comprises an adaptive fixed-time disturbance observer and a fixed-time control algorithm. The control system's global fixed-time stability and convergence time boundary are obtained using Lyapunov criteria, allowing for arbitrary settling time adjustment regardless of initial system state.
Article
Computer Science, Information Systems
Thanh Nguyen Truong et al.
Summary: This article proposes a backstepping global fast terminal sliding mode control for trajectory tracking of industrial robotic manipulators. The method integrates a global fast terminal sliding mode surface integral, backstepping control, and High-Order SMC to improve dynamic performance, fast convergence, and ensure global stability. The effectiveness of the designed controller is verified through computer simulations, showing small position and velocity control errors, smooth control torque, and convergence of control errors in a short time.
Article
Mathematics, Applied
Tianwei Zhang et al.
APPLIED MATHEMATICS LETTERS
(2020)
Article
Automation & Control Systems
An-Min Zou et al.
Article
Automation & Control Systems
Xuan-Toa Tran et al.
Article
Automation & Control Systems
Jin-Xi Zhang et al.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2020)
Article
Computer Science, Information Systems
Anh Tuan Vo et al.
Article
Computer Science, Artificial Intelligence
Desheng Ba et al.
Review
Multidisciplinary Sciences
Aude Billard et al.
Review
Robotics
Eloise Matheson et al.
Article
Computer Science, Information Systems
Ann Tuan Vo et al.
Article
Automation & Control Systems
Luis Santos et al.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2018)
Article
Automation & Control Systems
Zheng Kunming et al.
Article
Automation & Control Systems
Huijie Li et al.
IET CONTROL THEORY AND APPLICATIONS
(2017)
Review
Mathematics, Interdisciplinary Applications
Yiming Jiang et al.
Review
Automation & Control Systems
Amit Shukla et al.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2016)
Article
Engineering, Manufacturing
Minh-Duc Tran et al.
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
(2016)
Article
Automation & Control Systems
Miroslaw Galicki
Article
Automation & Control Systems
Zongyu Zuo
IET CONTROL THEORY AND APPLICATIONS
(2015)
Article
Automation & Control Systems
Charalampos P. Bechlioulis et al.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2008)
Article
Automation & Control Systems
SH Yu et al.
Article
Automation & Control Systems
SP Bhat et al.
MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS
(2005)
Article
Automation & Control Systems
G Bartolini et al.
INTERNATIONAL JOURNAL OF CONTROL
(2003)
