Robotic Intelligence and Automation最新文献

{"title":"Adaptive positioning method for ball head based on impedance control","authors":"Yang Liu, Xiang Huang, Shuanggao Li, Wenmin Chu","doi":"10.1108/ria-08-2023-0106","DOIUrl":"https://doi.org/10.1108/ria-08-2023-0106","url":null,"abstract":"Purpose\u0000Component positioning is an important part of aircraft assembly, aiming at the problem that it is difficult to accurately fall into the corresponding ball socket for the ball head connected with aircraft component. This study aims to propose a ball head adaptive positioning method based on impedance control.\u0000\u0000Design/methodology/approach\u0000First, a target impedance model for ball head positioning is constructed, and a reference positioning trajectory is generated online based on the contact force between the ball head and the ball socket. Second, the target impedance parameters were optimized based on the artificial fish swarm algorithm. Third, to improve the robustness of the impedance controller in unknown environments, a controller is designed based on model reference adaptive control (MRAC) theory and an adaptive impedance control model is built in the Simulink environment. Finally, a series of ball head positioning experiments are carried out.\u0000\u0000Findings\u0000During the positioning of the ball head, the contact force between the ball head and the ball socket is maintained at a low level. After the positioning, the horizontal contact force between the ball head and the socket is less than 2 N. When the position of the contact environment has the same change during ball head positioning, the contact force between the ball head and the ball socket under standard impedance control will increase to 44 N, while the contact force of the ball head and the ball socket under adaptive impedance control will only increase to 19 N.\u0000\u0000Originality/value\u0000In this paper, impedance control is used to decouple the force-position relationship of the ball head during positioning, which makes the entire process of ball head positioning complete under low stress conditions. At the same time, by constructing an adaptive impedance controller based on MRAC, the robustness of the positioning system under changes in the contact environment position is greatly improved.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"13 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140697374","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A memory and attention-based reinforcement learning for musculoskeletal robots with prior knowledge of muscle synergies","authors":"Xiaona Wang, Jiahao Chen, Hong Qiao","doi":"10.1108/ria-11-2023-0172","DOIUrl":"https://doi.org/10.1108/ria-11-2023-0172","url":null,"abstract":"\u0000Purpose\u0000Limited by the types of sensors, the state information available for musculoskeletal robots with highly redundant, nonlinear muscles is often incomplete, which makes the control face a bottleneck problem. The aim of this paper is to design a method to improve the motion performance of musculoskeletal robots in partially observable scenarios, and to leverage the ontology knowledge to enhance the algorithm’s adaptability to musculoskeletal robots that have undergone changes.\u0000\u0000\u0000Design/methodology/approach\u0000A memory and attention-based reinforcement learning method is proposed for musculoskeletal robots with prior knowledge of muscle synergies. First, to deal with partially observed states available to musculoskeletal robots, a memory and attention-based network architecture is proposed for inferring more sufficient and intrinsic states. Second, inspired by muscle synergy hypothesis in neuroscience, prior knowledge of a musculoskeletal robot’s muscle synergies is embedded in network structure and reward shaping.\u0000\u0000\u0000Findings\u0000Based on systematic validation, it is found that the proposed method demonstrates superiority over the traditional twin delayed deep deterministic policy gradients (TD3) algorithm. A musculoskeletal robot with highly redundant, nonlinear muscles is adopted to implement goal-directed tasks. In the case of 21-dimensional states, the learning efficiency and accuracy are significantly improved compared with the traditional TD3 algorithm; in the case of 13-dimensional states without velocities and information from the end effector, the traditional TD3 is unable to complete the reaching tasks, while the proposed method breaks through this bottleneck problem.\u0000\u0000\u0000Originality/value\u0000In this paper, a novel memory and attention-based reinforcement learning method with prior knowledge of muscle synergies is proposed for musculoskeletal robots to deal with partially observable scenarios. Compared with the existing methods, the proposed method effectively improves the performance. Furthermore, this paper promotes the fusion of neuroscience and robotics.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"305 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140703687","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Research on small sample target detection for underwater robot","authors":"Hu Luo, Haobin Ruan, Dawei Tu","doi":"10.1108/ria-07-2023-0090","DOIUrl":"https://doi.org/10.1108/ria-07-2023-0090","url":null,"abstract":"Purpose\u0000The purpose of this paper is to propose a whole set of methods for underwater target detection, because most underwater objects have small samples, low quality underwater images problems such as detail loss, low contrast and color distortion, and verify the feasibility of the proposed methods through experiments.\u0000\u0000Design/methodology/approach\u0000The improved RGHS algorithm to enhance the original underwater target image is proposed, and then the YOLOv4 deep learning network for underwater small sample targets detection is improved based on the combination of traditional data expansion method and Mosaic algorithm, expanding the feature extraction capability with SPP (Spatial Pyramid Pooling) module after each feature extraction layer to extract richer feature information.\u0000\u0000Findings\u0000The experimental results, using the official dataset, reveal a 3.5% increase in average detection accuracy for three types of underwater biological targets compared to the traditional YOLOv4 algorithm. In underwater robot application testing, the proposed method achieves an impressive 94.73% average detection accuracy for the three types of underwater biological targets.\u0000\u0000Originality/value\u0000Underwater target detection is an important task for underwater robot application. However, most underwater targets have the characteristics of small samples, and the detection of small sample targets is a comprehensive problem because it is affected by the quality of underwater images. This paper provides a whole set of methods to solve the problems, which is of great significance to the application of underwater robot.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"158 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140731157","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Bioinspired sensors and applications in intelligent robots: a review","authors":"Yanmin Zhou, Zhe Yan, Ye Yang, Zhipeng Wang, Ping Lu, Philip F. Yuan, Bin He","doi":"10.1108/ria-07-2023-0088","DOIUrl":"https://doi.org/10.1108/ria-07-2023-0088","url":null,"abstract":"\u0000Purpose\u0000Vision, audition, olfactory, tactile and taste are five important senses that human uses to interact with the real world. As facing more and more complex environments, a sensing system is essential for intelligent robots with various types of sensors. To mimic human-like abilities, sensors similar to human perception capabilities are indispensable. However, most research only concentrated on analyzing literature on single-modal sensors and their robotics application.\u0000\u0000\u0000Design/methodology/approach\u0000This study presents a systematic review of five bioinspired senses, especially considering a brief introduction of multimodal sensing applications and predicting current trends and future directions of this field, which may have continuous enlightenments.\u0000\u0000\u0000Findings\u0000This review shows that bioinspired sensors can enable robots to better understand the environment, and multiple sensor combinations can support the robot’s ability to behave intelligently.\u0000\u0000\u0000Originality/value\u0000The review starts with a brief survey of the biological sensing mechanisms of the five senses, which are followed by their bioinspired electronic counterparts. Their applications in the robots are then reviewed as another emphasis, covering the main application scopes of localization and navigation, objection identification, dexterous manipulation, compliant interaction and so on. Finally, the trends, difficulties and challenges of this research were discussed to help guide future research on intelligent robot sensors.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"1 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140745636","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Non-rigid point set registration based on Gaussian mixture model with integrated feature divergence","authors":"Chuyu Tang, Hao Wang, Genliang Chen, Shaoqiu Xu","doi":"10.1108/ria-12-2023-0177","DOIUrl":"https://doi.org/10.1108/ria-12-2023-0177","url":null,"abstract":"\u0000Purpose\u0000This paper aims to propose a robust method for non-rigid point set registration, using the Gaussian mixture model and accommodating non-rigid transformations. The posterior probabilities of the mixture model are determined through the proposed integrated feature divergence.\u0000\u0000\u0000Design/methodology/approach\u0000The method involves an alternating two-step framework, comprising correspondence estimation and subsequent transformation updating. For correspondence estimation, integrated feature divergences including both global and local features, are coupled with deterministic annealing to address the non-convexity problem of registration. For transformation updating, the expectation-maximization iteration scheme is introduced to iteratively refine correspondence and transformation estimation until convergence.\u0000\u0000\u0000Findings\u0000The experiments confirm that the proposed registration approach exhibits remarkable robustness on deformation, noise, outliers and occlusion for both 2D and 3D point clouds. Furthermore, the proposed method outperforms existing analogous algorithms in terms of time complexity. Application of stabilizing and securing intermodal containers loaded on ships is performed. The results demonstrate that the proposed registration framework exhibits excellent adaptability for real-scan point clouds, and achieves comparatively superior alignments in a shorter time.\u0000\u0000\u0000Originality/value\u0000The integrated feature divergence, involving both global and local information of points, is proven to be an effective indicator for measuring the reliability of point correspondences. This inclusion prevents premature convergence, resulting in more robust registration results for our proposed method. Simultaneously, the total operating time is reduced due to a lower number of iterations.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"8 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140744350","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A tolerance analysis method based on assembly deformation simulation with stable contact","authors":"Guodong Sa, Haodong Bai, Zhen-yu Liu, Xiaojian Liu, Jianrong Tan","doi":"10.1108/ria-08-2022-0204","DOIUrl":"https://doi.org/10.1108/ria-08-2022-0204","url":null,"abstract":"\u0000Purpose\u0000The assembly simulation in tolerance analysis is one of the most important steps for the tolerance design of mechanical products. However, most assembly simulation methods are based on the rigid body assumption, and those assembly simulation methods considering deformation have a poor efficiency. This paper aims to propose a novel efficient and precise tolerance analysis method based on stable contact to improve the efficiency and reliability of assembly deformation simulation.\u0000\u0000\u0000Design/methodology/approach\u0000The proposed method comprehensively considers the initial rigid assembly state, the assembly deformation and the stability examination of assembly simulation to improve the reliability of tolerance analysis results. The assembly deformation of mating surfaces was first calculated based on the boundary element method with optimal initial assembly state, then the stability of assembly simulation results was assessed by the density-based spatial clustering of applications with noise algorithm to improve the reliability of tolerance analysis. Finally, combining the small displacement torsor theory, the tolerance scheme was statistically analyzed based on sufficient samples.\u0000\u0000\u0000Findings\u0000A case study of a guide rail model demonstrated the efficiency and effectiveness of the proposed method.\u0000\u0000\u0000Research limitations/implications\u0000The present study only considered the form error when generating the skin model shape, and the waviness and the roughness of the matching surface were not considered.\u0000\u0000\u0000Originality/value\u0000To the best of the authors’ knowledge, the proposed method is original in the assembly simulation considering stable contact, which can effectively ensure the reliability of the assembly simulation while taking into account the computational efficiency.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"48 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138943775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Nonlinear optimal control for permanent magnet synchronous spherical motors","authors":"G. Rigatos, M. Abbaszadeh, P. Siano, Jorge Pomares","doi":"10.1108/ria-03-2023-0032","DOIUrl":"https://doi.org/10.1108/ria-03-2023-0032","url":null,"abstract":"\u0000Purpose\u0000Permanent magnet synchronous spherical motors can have wide use in robotics and industrial automation. They enable three-DOF omnidirectional motion of their rotor. They are suitable for several applications, such as actuation in robotics, traction in electric vehicles and use in several automation systems. Unlike conventional synchronous motors, permanent magnet synchronous spherical motors consist of a fixed inner shell, which is the stator, and a rotating outer shell, which is the rotor. Their dynamic model is multivariable and strongly nonlinear. The treatment of the associated control problem is important.\u0000\u0000\u0000Design/methodology/approach\u0000In this paper, the multivariable dynamic model of permanent magnet synchronous spherical motors is analysed, and a nonlinear optimal (H-infinity) control method is developed for it. Differential flatness properties are proven for the spherical motors’ state-space model. Next, the motors’ state-space description undergoes approximate linearization with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. The linearization process takes place at each sampling instance around a time-varying operating point, which is defined by the present value of the motors’ state vector and by the last sampled value of the control input vector. For the approximately linearized model of the permanent magnet synchronous spherical motors, a stabilizing H-infinity feedback controller is designed. To compute the controller’s gains, an algebraic Riccati equation has to be repetitively solved at each time-step of the control algorithm. The global stability properties of the control scheme are proven through Lyapunov analysis. Finally, the performance of the nonlinear optimal control method is compared against a flatness-based control approach implemented in successive loops.\u0000\u0000\u0000Findings\u0000Due to the nonlinear and multivariable structure of the state-space model of spherical motors, the solution of the associated nonlinear control problem is a nontrivial task. In this paper, a novel nonlinear optimal (H-infinity) control approach is proposed for the dynamic model of permanent magnet synchronous spherical motors. The method is based on approximate linearization of the motor’s state-space model with the use of first-order Taylor series expansion and the computation of the associated Jacobian matrices. Furthermore, the paper has introduced a different solution to the nonlinear control problem of the permanent magnet synchronous spherical motor, which is based on flatness-based control implemented in successive loops.\u0000\u0000\u0000Research limitations/implications\u0000The presented control approaches do not exhibit any limitations, but on the contrary, they have specific advantages. In comparison to global linearization-based control schemes (such as Lie-algebra-based control), they do not make use of complicated changes of state variables (diffeomorphisms) and transformations of the system'","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"258 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121815826","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Low-cost AI-based solar panel detection drone design and implementation for solar power systems","authors":"Tolga Özer, Ömer Türkmen","doi":"10.1108/ria-03-2023-0022","DOIUrl":"https://doi.org/10.1108/ria-03-2023-0022","url":null,"abstract":"\u0000Purpose\u0000This paper aims to design an AI-based drone that can facilitate the complicated and time-intensive control process for detecting healthy and defective solar panels. Today, the use of solar panels is becoming widespread, and control problems are increasing. Physical control of the solar panels is critical in obtaining electrical power. Controlling solar panel power plants and rooftop panel applications installed in large areas can be difficult and time-consuming. Therefore, this paper designs a system that aims to panel detection.\u0000\u0000\u0000Design/methodology/approach\u0000This paper designed a low-cost AI-based unmanned aerial vehicle to reduce the difficulty of the control process. Convolutional neural network based AI models were developed to classify solar panels as damaged, dusty and normal. Two approaches to the solar panel detection model were adopted: Approach 1 and Approach 2.\u0000\u0000\u0000Findings\u0000The training was conducted with YOLOv5, YOLOv6 and YOLOv8 models in Approach 1. The best F1 score was 81% at 150 epochs with YOLOv5m. In total, 87% and 89% of the best F1 score and mAP values were obtained with the YOLOv5s model at 100 epochs in Approach 2 as a proposed method. The best models at Approaches 1 and 2 were used with a developed AI-based drone in the real-time test application.\u0000\u0000\u0000Originality/value\u0000The AI-based low-cost solar panel detection drone was developed with an original data set of 1,100 images. A detailed comparative analysis of YOLOv5, YOLOv6 and YOLOv8 models regarding performance metrics was realized. Gaussian, salt-pepper noise addition and wavelet transform noise removal preprocessing techniques were applied to the created data set under the proposed method. The proposed method demonstrated expressive and remarkable performance in panel detection applications.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127033632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"PID and compliance control-based anti-sticking of drill rod in underground mining","authors":"Dongmin Li, Shiming Zhu, S. Xia, Peisi Zhong, J. Fang, P. Dai","doi":"10.1108/ria-02-2023-0019","DOIUrl":"https://doi.org/10.1108/ria-02-2023-0019","url":null,"abstract":"\u0000Purpose\u0000During drilling in coal mines, sticking of drill rod (referred to as SDR in this work) is a potential threat to underground safety. However, no practical measures to deter SDR have been developed yet. The purpose of this study is to develop an anti-SDR strategy using proportional-integral-derivative (PID) and compliance control (PIDC). The proposed strategy is compatible with the drilling process currently used in underground coal mines using drill rigs. Therefore, this study aims to contribute to the PIDC strategy for solving SDR.\u0000\u0000\u0000Design/methodology/approach\u0000A hydraulic circuit to reduce SDR was built based on a load-independent flow distribution system, a PID controller was designed to control the inlet hydraulic pressure of the rotation motor and a typical compliance control approach was adopted to control the feed force and displacement. Moreover, the weight and optimal combination of the alternative admittance control parameters for the feed cylinder were obtained by adopting the orthogonal experiment approach. Furthermore, a fuzzy admittance control approach was proposed to control the feed displacement. Experiments were conducted to test the effectiveness of the proposed method.\u0000\u0000\u0000Findings\u0000The experimental results indicated that the PIDC strategy was appropriate and effective for controlling the rotation motor and feed cylinder; thus, the proposed method significantly reduces the SDR during drilling operations in underground coal mines.\u0000\u0000\u0000Research limitations/implications\u0000As the PIDC strategy solves the SDR problem in underground coal mines, it greatly improves the safety of coal mine operation and decreases the power cost. Consequently, it brings the considerable benefits of coal mine production and vast application prospects in other corresponding fields. Actual drilling conditions are difficult to accurately simulate in a laboratory; thus, for future work, drilling experiments can be conducted in actual underground coal mines.\u0000\u0000\u0000Originality/value\u0000The PIDC-based anti-SDR strategy proposed in this study satisfactorily controls the rotation motor and feed cylinder and facilitates the feed and rotation movements. Furthermore, the tangible novelty of this study results is that it improves the frequency response of the entire drilling system. The drilling process with PIDC decreased the occurrence of SDR by 50%; therefore, the anti-SDR strategy can significantly improve the safety and efficiency of underground coal mining.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115615107","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Hierarchical sliding mode-based adaptive fuzzy control for uncertain switched under-actuated nonlinear systems with input saturation and dead-zone","authors":"Shuai Yue, Ben Niu, Huanqing Wang, L. Zhang, A. Ahmad","doi":"10.1108/ria-04-2023-0056","DOIUrl":"https://doi.org/10.1108/ria-04-2023-0056","url":null,"abstract":"\u0000Purpose\u0000This paper aims to study the issues of adaptive fuzzy control for a category of switched under-actuated systems with input nonlinearities and external disturbances.\u0000\u0000\u0000Design/methodology/approach\u0000A control scheme based on sliding mode surface with a hierarchical structure is introduced to enhance the responsiveness and robustness of the studied systems. An equivalent control and switching control rules are co-designed in a hierarchical sliding mode control (HSMC) framework to ensure that the system state reaches a given sliding surface and remains sliding on the surface, finally stabilizing at the equilibrium point. Besides, the input nonlinearities consist of non-symmetric saturation and dead-zone, which are estimated by an unknown bounded function and a known affine function.\u0000\u0000\u0000Findings\u0000Based on fuzzy logic systems and the hierarchical sliding mode control method, an adaptive fuzzy control method for uncertain switched under-actuated systems is put forward.\u0000\u0000\u0000Originality/value\u0000The “cause and effect” problems often existing in conventional backstepping designs can be prevented. Furthermore, the presented adaptive laws can eliminate the influence of external disturbances and approximation errors. Besides, in contrast to arbitrary switching strategies, the authors consider a switching rule with average dwell time, which resolves control problems that cannot be resolved with arbitrary switching signals and reduces conservatism.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116043764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}