Adaptive Quantized Control of Flexible Manipulators Subject to Unknown Dead Zones

Zhijia Zhao; Yiming Liu; Sentao Cai; Zhifu Li; Yiwen Wang; Keum-Shik Hong; Han-Xiong Li

doi:10.1109/TSMC.2023.3283268

Adaptive Quantized Control of Flexible Manipulators Subject to Unknown Dead Zones

Zhijia Zhao
, Yiming Liu
, Sentao Cai
, Zhifu Li^*
, Yiwen Wang
, Keum-Shik Hong
, Han-Xiong Li

^*Corresponding author for this work

Department of Systems Engineering

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

28 Citations (Scopus)

Abstract

This article proposes an adaptive control for a flexible manipulator (FM) under the influence of distributed disturbances, unknown dead zones, and input quantization. First, the hybrid effect of the unknown dead zone and input quantization is formulated and represented based on some essential transformations. Then, an adaptive robust quantized control with online updating laws is developed to address the uncertainty of the dead zone, ensure robustness and angle position, and dampen the vibration in the FM system. Subsequently, the Lyapunov theoretical analysis is employed to ensure the bounded stability of the system. Finally, numerical simulations and experiments with a Quanser platform are given to further verify the feasibility and superiority of the designed scheme. © 2023 IEEE.

Original language	English
Pages (from-to)	6438-6447
Number of pages	10
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	53
Issue number	10
Online published	21 Jun 2023
DOIs	https://doi.org/10.1109/TSMC.2023.3283268
Publication status	Online published - 21 Jun 2023

Funding

This work was supported in part by the National Natural Science Foundation of China under Grant 62273112; in part by the Science and Technology Planning Project of Guangzhou City under Grant 202201020185, Grant 202201010758, and Grant 2023A03J0120; in part by the Guangzhou University–Hong Kong University of Science and Technology Joint Research Collaboration Fund under Grant YH202205; in part by the Open Research Fund from the Guangdong Laboratory of Artificial Intelligence and Digital Economy (Shenzhen) under Grant GML-KF-22-27; and in part by the National Research Foundation of Korea under the Ministry of Science and ICT, South Korea, under Grant RS-2023-00207954.

Research Keywords

Adaptive control
flexible manipulator (FM)
input quantization
unknown dead zone

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10.1109/TSMC.2023.3283268

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title = "Adaptive Quantized Control of Flexible Manipulators Subject to Unknown Dead Zones",

abstract = "This article proposes an adaptive control for a flexible manipulator (FM) under the influence of distributed disturbances, unknown dead zones, and input quantization. First, the hybrid effect of the unknown dead zone and input quantization is formulated and represented based on some essential transformations. Then, an adaptive robust quantized control with online updating laws is developed to address the uncertainty of the dead zone, ensure robustness and angle position, and dampen the vibration in the FM system. Subsequently, the Lyapunov theoretical analysis is employed to ensure the bounded stability of the system. Finally, numerical simulations and experiments with a Quanser platform are given to further verify the feasibility and superiority of the designed scheme. {\textcopyright} 2023 IEEE.",

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AU - Zhao, Zhijia

AU - Liu, Yiming

AU - Cai, Sentao

AU - Li, Zhifu

AU - Wang, Yiwen

AU - Hong, Keum-Shik

AU - Li, Han-Xiong

PY - 2023/6/21

Y1 - 2023/6/21

N2 - This article proposes an adaptive control for a flexible manipulator (FM) under the influence of distributed disturbances, unknown dead zones, and input quantization. First, the hybrid effect of the unknown dead zone and input quantization is formulated and represented based on some essential transformations. Then, an adaptive robust quantized control with online updating laws is developed to address the uncertainty of the dead zone, ensure robustness and angle position, and dampen the vibration in the FM system. Subsequently, the Lyapunov theoretical analysis is employed to ensure the bounded stability of the system. Finally, numerical simulations and experiments with a Quanser platform are given to further verify the feasibility and superiority of the designed scheme. © 2023 IEEE.

AB - This article proposes an adaptive control for a flexible manipulator (FM) under the influence of distributed disturbances, unknown dead zones, and input quantization. First, the hybrid effect of the unknown dead zone and input quantization is formulated and represented based on some essential transformations. Then, an adaptive robust quantized control with online updating laws is developed to address the uncertainty of the dead zone, ensure robustness and angle position, and dampen the vibration in the FM system. Subsequently, the Lyapunov theoretical analysis is employed to ensure the bounded stability of the system. Finally, numerical simulations and experiments with a Quanser platform are given to further verify the feasibility and superiority of the designed scheme. © 2023 IEEE.

KW - Adaptive control

KW - flexible manipulator (FM)

KW - input quantization

KW - unknown dead zone

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U2 - 10.1109/TSMC.2023.3283268

DO - 10.1109/TSMC.2023.3283268

M3 - RGC 21 - Publication in refereed journal

SN - 2168-2216

VL - 53

SP - 6438

EP - 6447

JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems

JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems

IS - 10

ER -

Adaptive Quantized Control of Flexible Manipulators Subject to Unknown Dead Zones

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