Adaptive Optimal Motion Control of Uncertain Underactuated Mechatronic Systems With Actuator Constraints

Underactuated mechatronic systems are widely used in industrial production, where the control efforts and operation accuracy are both important aspects of performance evaluations. Hence, how to realize effective motion control, while reducing control efforts as much as possible, becomes an open prob...

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Vydáno v:IEEE/ASME transactions on mechatronics Ročník 28; číslo 1; s. 210 - 222
Hlavní autoři: Yang, Tong, Sun, Ning, Chen, He, Fang, Yongchun
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York IEEE 01.02.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Actuators
Adaptive control
Adaptive systems
Approximation
Artificial neural networks
Controllers
Liapunov functions
Lyapunov techniques
Mechatronics
MIMO communication
Motion control
Optimization
Performance analysis
Performance evaluation
Performance indices
Robust control
Stability analysis
System effectiveness
Tracking control
Trajectory planning
underactuated mechatronic systems
vibration control
ISSN:1083-4435, 1941-014X
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Shrnutí:Underactuated mechatronic systems are widely used in industrial production, where the control efforts and operation accuracy are both important aspects of performance evaluations. Hence, how to realize effective motion control, while reducing control efforts as much as possible, becomes an open problem for underactuated systems. Although some open loop approaches (e.g., trajectory planning) take energy optimization into account, they need linearization/approximation manipulations and exhibit weak robustness, which is prone to degrading practical control performance. To this end, this article proposes an adaptive tracking controller for uncertain multi-input-multi- output (MIMO) underactuated mechatronic systems, to fulfill accurate positioning/tracking control with saturated inputs and reduce control efforts as well. Particularly, by elaborately developing an auxiliary compensation term and a robust term, the proposed controller ensures asymptotic convergence of both actuated and unactuated variables. Meanwhile, the modified performance index function is approximated online and introduced into the Lyapunov function candidate to make the stability analysis process more concise . To the best of our knowledge, without the need of offline computation and the persistence of excitation (PE) condition, this article presents the first adaptive optimal controller to simultaneously achieve error elimination, control effort optimization, and actuator constraints for a class of underactuated systems. Finally, strict theoretical analysis and experimental validations show the effectiveness and robustness of the suggested controller.
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2022.3192002