Optimal parameter selection for constraint-following control for mechanical systems based on Stackelberg game

Nonlinear Dynamics - This paper proposes an optimal parameter design of control scheme for mechanical systems by adopting the Stackelberg game theory. The goal of the control is to drive the...     

Adaptive robust control for dual avoidance–arrival performance for uncertain mechanical systems

An unprecedented dual avoidance–arrival problem is addressed for uncertain mechanical systems. The concerned system uncertainty is (possibly fast) time-varying but within an unknown bound. The objective is to design a control to simultaneously guarantee two seemingly opposite system performance: avoidance (with respect to a region) and arrival (with respect to another region). This is formulated as an approximate constraint-following control problem, in which formulation, the desired constraint is creatively divided into two categories as the avoidance constraint and the arrival constraint. An adaptive robust control is then put forward under the consideration of the system uncertainty. It is proved that, with the proposed control input, the avoidance constraint is completely followed and the arrival constraint is closely followed; hence, the dual avoidance–arrival problem is carried out.     

Udwadia–Kalaba constraint-based tracking control for artificial swarm mechanical systems: dynamic approach

Nonlinear Dynamics - A novel swarm tracking control for artificial swarm mechanical systems consisting of multiple mechanical agents is proposed. In this paper, the agents could not only perform...     

Cooperative game-oriented optimal design in constraint-following control of mechanical systems

Nonlinear Dynamics - This paper proposes a cooperative game-oriented optimal design problem of robust control for uncertain mechanical systems. State of the concerned system is affected by...     

A constraint-following control for uncertain mechanical systems: given force coupled with constraint force

A novel constraint-following control for uncertain mechanical systems is proposed. In mechanical systems, certain given forces may arise due to the constraint forces, which means the given forces are coupled with the constraint forces. By using the second-order form of the constraints, the given forces are decoupled explicitly. The uncertainty of the mechanical system is time-varying and bounded. But its bound is unknown. A series of adaptive parameters are invoked to estimate the bound information of the uncertainty in virtue of state feedback. Based on the estimated bound information, a robust control is designed to render the mechanical system an approximate constraint-following. The system performance under the control is guaranteed as uniform boundedness and uniform ultimate boundedness.     

Robust resource allocation strategy for technology innovation ecosystems: state and control constraints

Nonlinear Dynamics - This paper considers a robust resource allocation strategy design problem in technology innovation ecosystem. The purpose is for both healthy competition and symbiosis between...     

Uniform ultimate boundedness for underactuated mechanical systems as mismatched uncertainty disappeared

Nonlinear Dynamics - We propose to design control for uncertain underactuated mechanical systems. The underactuated mechanical system is to follow prescribed holonomic or nonholonomic constraints....