PSO-based nonlinear model predictive planning and discrete-time sliding tracking control for uncertain planar underactuated manipulators

DOI10.1080/00207721.2022.2039797MaRDI QIDQ5097792zbMATH OpenOpenAlexFDO

Authors Pan Zhang, Ya-Wu Wang, Chun-Yi Su, Min Wu, Xuzhi Lai

Publication date 1 September 2022

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207721.2022.2039797

zbMATH Keywords

discrete-time fast terminal sliding mode controlnonlinear model predictive controlparticle swarm optimisation (PSO)position controluncertain planar underactuated manipulators

Mathematics Subject Classification ID

Approximation methods and heuristics in mathematical programming (90C59) Variable structure systems (93B12) Model predictive control (93B45) Nonlinear systems in control theory (93C10) Discrete-time control/observation systems (93C55)

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Cites work

• A discrete repetitive sliding mode multicontrol for non-linear systems
• Adaptive robust control for planar \(n\)-link underactuated manipulator based on radial basis function neural network and online iterative correction method
• Control strategy based on Fourier transformation and intelligent optimization for planar Pendubot
• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
• Distributed implementation of nonlinear model predictive control for AUV trajectory tracking
• Disturbance observer-based fixed-time prescribed performance tracking control for robotic manipulator
• Effective position-posture control strategy based on switching control for planar three-link underactuated mechanical system
• scientific article; zbMATH DE number 1455909 (Why is no real title available?)
• Leader-follower formation control of mobile nonholonomic robots via a new observer-based controller
• Motion control of underactuated mechanical systems
• Robust adaptive path-following control of underactuated marine vessel with off-track error constraint

Cited in

(2)

• Reference regulation of constrained uncertain discrete-time systems via robust predictive integral control
• Controlling folded configurations of 2-link underactuated gymnastic robot: strong stabilization and minimal-order controllers

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