...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Applied Mathematical Modelling >Adaptive robust control for a soft robotic snake: A smooth-zone approach
【24h】

Adaptive robust control for a soft robotic snake: A smooth-zone approach

机译：软机器人蛇的自适应鲁棒控制：平滑区域方法

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper targets the motion control problem of a soft robotic snake with uncertainty. The problem is formulated as constraint-following. From practical point of view, the uncertainty is assumed to be (possibly fast) time-varying and bounded. The bound is unknown. To render constraint-following for the soft robotic snake, a new adaptive robust control is designed based on a novel design of the adaptation law. A smooth-zone approach is proposed to construct the adaptation law. Compared with the past discontinuous (hence non-smooth) dead-zone approach, the proposed approach ensures the adaptation law to be, besides saving control effort, continuous so that the adaptive parameters can vary smoothly, which in turn assures a smooth robot operation. We demonstrate that, even in the presence of uncertainty, the proposed control is capable of rendering approximate constraint-following by guaranteeing uniform boundedness and uniform ultimate bound-edness. Simulation results on the soft robotic snake demonstrate the effectiveness and advantages of the proposed control.
机译：本文针对具有不确定性的软机器人蛇的运动控制问题。该问题被表述为约束遵循。从实践的角度来看，不确定性被假定为（可能是快速的）时变的并且是有界的。界限是未知的。为了对软机器人蛇进行约束跟随，基于自适应律的新颖设计，设计了一种新的自适应鲁棒控制。提出了一种光滑区域方法来构造适应律。与过去的不连续（因此不平滑）的死区方法相比，所提出的方法除了节省控制力之外，还确保了适应律是连续的，从而使自适应参数可以平滑地变化，从而又确保了机器人的平稳运行。我们证明，即使在存在不确定性的情况下，所提出的控制也能够通过保证一致的有界性和一致的最终有界性来呈现近似约束约束。在软机器人蛇上的仿真结果证明了所提出控制的有效性和优势。

著录项

  • 来源
    《Applied Mathematical Modelling》 |2020年第4期|454-471|共18页
  • 作者

  • 作者单位

    School of Mechanical and Automotive Engineering South China University of Technology Guangzhou Guangdong 510641 PR China;

    The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA 30332 USA;

    State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha Hunan 410082 PR China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Soft robotic snake; Uncertainty; Constraint-following control; Smooth-zone;

    机译：软机器人蛇;不确定;约束跟踪控制;平滑区;

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号