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13 results on '"Luo, Yikun"'

4. Adaptive Parameter Identification and Control for Servo System with Input Saturation

Author

Tao, Liang, Chen, Qiang, Luo, Yikun, Nan, Yurong, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Ruediger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Zhu, Quanmin, editor, Na, Jing, editor, and Wu, Xing, editor

Published
2018
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10. Composite integral terminal sliding mode based adaptive synchronization control of multiple robotic manipulators with actuator saturation

Author

Yurong Nan, Qiang Chen, Liang Tao, and Luo Yikun

Subjects
Lyapunov stability, 0209 industrial biotechnology, Computer science, 020208 electrical & electronic engineering, Terminal sliding mode, Robot manipulator, 02 engineering and technology, Stability (probability), 020901 industrial engineering & automation, Control theory, Adaptive system, Synchronization (computer science), 0202 electrical engineering, electronic engineering, information engineering, Actuator
Abstract

In this paper, a composite integral terminal sliding mode surface is developed, and an adaptive synchronization control scheme is proposed accordingly for multiple robotic manipulators with actuator saturation. By combining the terminal sliding mode with integral terms, the presented scheme is able to reduce the static tracking errors and improve the synchronization performance. Moreover, the system uncertainties, external disturbances and the effect of input saturation are compensated by designing the adaptive update laws. The finite-time stability of the whole system is proved via the Lyapunov stability analysis. Finally, simulation results are given to show the effectiveness and superior performance of the proposed method.

Published
2017

11. Adaptive parameter identification and control for servo system with input saturation

Author

Yurong Nan, Qiang Chen, Luo Yikun, and Liang Tao

Subjects
0209 industrial biotechnology, Computer science, 020208 electrical & electronic engineering, Control (management), 02 engineering and technology, Servomechanism, Tracking (particle physics), Exponential function, law.invention, Identification (information), 020901 industrial engineering & automation, Control theory, law, Position (vector), 0202 electrical engineering, electronic engineering, information engineering, Saturation (chemistry)
Abstract

In this paper, an adaptive on-line parameter identification law is investigated by the extracted parameter error information for the position servo system, and the improved exponential reaching law is employed to design the controller to enhance the tracking performance. The chattering problem is weakened by using the proposed method. Moreover, several adaptive parameters are adopted to suppress the effect of saturation when the limited input affects the system tracking performance. Finally, simulations are conducted to verify the effectiveness of the proposed method.

Published
2017

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