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IF 3.9 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Adaptive Control and Signal Processing Pub Date : 2024-12-16 DOI:10.1002/acs.3952

Yuqiang Zhu, Zhen Liu, Yonggui Kao, Quanmin Zhu

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引用次数: 0

摘要

本文基于模糊滑模控制策略，研究了具有未知执行器故障和负载移动的不确定机器人机械手系统的有限时间跟踪控制问题。合成了一种新颖的模糊自适应滑模容错控制律，利用模糊逼近算法拟合未知工厂参数、潜在干扰和相关执行器故障，并设计了相应的自适应鲁棒项来估计估计误差的未知边界，结合开关系统控制理论的平均停留时间机制，确保了机械手系统所有相关设计参数的有界性。此外，在提出的控制器设计中，还实现了预先设计的滑动面的可达性和跟踪误差的有限时间收敛性。仿真结果最终证明了所提算法的可行性和优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Adaptive Fuzzy Sliding Mode Controller Design for Uncertain Robotic Manipulator With Finite-Time Convergence

This article investigates the issue of finite-time tracking control for uncertain robotic manipulator systems with unknown actuator faults and shifting loads based upon a fuzzy sliding mode control strategy. A novel fuzzy adaptive sliding mode fault-tolerant control law is synthesized, where a fuzzy approximation algorithm is utilized to fit the unknown plant parameters, potential disturbances, and relational actuator faults, and the corresponding adaptive robust term is designed to estimate the unidentified boundary of the estimated errors, and the boundedness of all the relevant design parameters of the manipulator systems is ensured combining with the average dwell time mechanism of switched system control theory. Furthermore, the reachability of the pre-devised sliding surface and the finite-time convergence of tracking error are achieved under the presented controller design. Ultimately, simulation results exhibit the feasibility and superiority of the proposed algorithm.

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来源期刊

International Journal of Adaptive Control and Signal Processing 工程技术-工程：电子与电气

CiteScore

5.30

自引率

16.10%

发文量

163

审稿时长

5 months

期刊介绍： The International Journal of Adaptive Control and Signal Processing is concerned with the design, synthesis and application of estimators or controllers where adaptive features are needed to cope with uncertainties.Papers on signal processing should also have some relevance to adaptive systems. The journal focus is on model based control design approaches rather than heuristic or rule based control design methods. All papers will be expected to include significant novel material. Both the theory and application of adaptive systems and system identification are areas of interest. Papers on applications can include problems in the implementation of algorithms for real time signal processing and control. The stability, convergence, robustness and numerical aspects of adaptive algorithms are also suitable topics. The related subjects of controller tuning, filtering, networks and switching theory are also of interest. Principal areas to be addressed include: Auto-Tuning, Self-Tuning and Model Reference Adaptive Controllers Nonlinear, Robust and Intelligent Adaptive Controllers Linear and Nonlinear Multivariable System Identification and Estimation Identification of Linear Parameter Varying, Distributed and Hybrid Systems Multiple Model Adaptive Control Adaptive Signal processing Theory and Algorithms Adaptation in Multi-Agent Systems Condition Monitoring Systems Fault Detection and Isolation Methods Fault Detection and Isolation Methods Fault-Tolerant Control (system supervision and diagnosis) Learning Systems and Adaptive Modelling Real Time Algorithms for Adaptive Signal Processing and Control Adaptive Signal Processing and Control Applications Adaptive Cloud Architectures and Networking Adaptive Mechanisms for Internet of Things Adaptive Sliding Mode Control.