Cooperative Game Oriented Optimal Design in Controlling Uncertain Underactuated Mechanical Systems

Cui Wei; Ye Hwa Chen; Jun Fu; Kun Zhang

doi:10.1109/ICCA54724.2022.9831894

Cooperative Game Oriented Optimal Design in Controlling Uncertain Underactuated Mechanical Systems

Cui Wei
, Ye Hwa Chen
, Jun Fu
, Kun Zhang^*

^*Corresponding author for this work

School of Astronautics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper examines the adaptive robust control for uncertain underactuated mechanical systems. The uncertainty is time varying but bounded. An adaptive robust constraint-following control approach is developed with tunable parameters. For the seeking of optimal control parameters, a two-player cooperative game oriented optimal design problem is formulated. The problem is completely solved with the existence and uniqueness of the optimal solution proved and the analytical expression of the optimal parameters provided. Using the optimal parameters, the proposed adaptive robust control renders dual performance: guaranteed (uniform boundedness and uniform ultimate boundedness) and optimal.

Original language	English
Title of host publication	2022 IEEE 17th International Conference on Control and Automation, ICCA 2022
Publisher	IEEE Computer Society
Pages	740-745
Number of pages	6
ISBN (Electronic)	9781665495721
DOIs	https://doi.org/10.1109/ICCA54724.2022.9831894
State	Published - 2022
Event	17th IEEE International Conference on Control and Automation, ICCA 2022 - Naples, Italy Duration: 27 Jun 2022 → 30 Jun 2022

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
Volume	2022-June
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	17th IEEE International Conference on Control and Automation, ICCA 2022
Country/Territory	Italy
City	Naples
Period	27/06/22 → 30/06/22

Access to Document

10.1109/ICCA54724.2022.9831894

Cite this

Wei, C., Chen, Y. H., Fu, J., & Zhang, K. (2022). Cooperative Game Oriented Optimal Design in Controlling Uncertain Underactuated Mechanical Systems. In 2022 IEEE 17th International Conference on Control and Automation, ICCA 2022 (pp. 740-745). (IEEE International Conference on Control and Automation, ICCA; Vol. 2022-June). IEEE Computer Society. https://doi.org/10.1109/ICCA54724.2022.9831894

@inproceedings{391452338fd540fe9678befb381dc405,

title = "Cooperative Game Oriented Optimal Design in Controlling Uncertain Underactuated Mechanical Systems",

abstract = "This paper examines the adaptive robust control for uncertain underactuated mechanical systems. The uncertainty is time varying but bounded. An adaptive robust constraint-following control approach is developed with tunable parameters. For the seeking of optimal control parameters, a two-player cooperative game oriented optimal design problem is formulated. The problem is completely solved with the existence and uniqueness of the optimal solution proved and the analytical expression of the optimal parameters provided. Using the optimal parameters, the proposed adaptive robust control renders dual performance: guaranteed (uniform boundedness and uniform ultimate boundedness) and optimal.",

author = "Cui Wei and Chen, \{Ye Hwa\} and Jun Fu and Kun Zhang",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 17th IEEE International Conference on Control and Automation, ICCA 2022 ; Conference date: 27-06-2022 Through 30-06-2022",

year = "2022",

doi = "10.1109/ICCA54724.2022.9831894",

language = "英语",

series = "IEEE International Conference on Control and Automation, ICCA",

publisher = "IEEE Computer Society",

pages = "740--745",

booktitle = "2022 IEEE 17th International Conference on Control and Automation, ICCA 2022",

address = "美国",

}

Wei, C, Chen, YH, Fu, J & Zhang, K 2022, Cooperative Game Oriented Optimal Design in Controlling Uncertain Underactuated Mechanical Systems. in 2022 IEEE 17th International Conference on Control and Automation, ICCA 2022. IEEE International Conference on Control and Automation, ICCA, vol. 2022-June, IEEE Computer Society, pp. 740-745, 17th IEEE International Conference on Control and Automation, ICCA 2022, Naples, Italy, 27/06/22. https://doi.org/10.1109/ICCA54724.2022.9831894

Cooperative Game Oriented Optimal Design in Controlling Uncertain Underactuated Mechanical Systems. / Wei, Cui; Chen, Ye Hwa; Fu, Jun et al.
2022 IEEE 17th International Conference on Control and Automation, ICCA 2022. IEEE Computer Society, 2022. p. 740-745 (IEEE International Conference on Control and Automation, ICCA; Vol. 2022-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Cooperative Game Oriented Optimal Design in Controlling Uncertain Underactuated Mechanical Systems

AU - Wei, Cui

AU - Chen, Ye Hwa

AU - Fu, Jun

AU - Zhang, Kun

PY - 2022

Y1 - 2022

N2 - This paper examines the adaptive robust control for uncertain underactuated mechanical systems. The uncertainty is time varying but bounded. An adaptive robust constraint-following control approach is developed with tunable parameters. For the seeking of optimal control parameters, a two-player cooperative game oriented optimal design problem is formulated. The problem is completely solved with the existence and uniqueness of the optimal solution proved and the analytical expression of the optimal parameters provided. Using the optimal parameters, the proposed adaptive robust control renders dual performance: guaranteed (uniform boundedness and uniform ultimate boundedness) and optimal.

AB - This paper examines the adaptive robust control for uncertain underactuated mechanical systems. The uncertainty is time varying but bounded. An adaptive robust constraint-following control approach is developed with tunable parameters. For the seeking of optimal control parameters, a two-player cooperative game oriented optimal design problem is formulated. The problem is completely solved with the existence and uniqueness of the optimal solution proved and the analytical expression of the optimal parameters provided. Using the optimal parameters, the proposed adaptive robust control renders dual performance: guaranteed (uniform boundedness and uniform ultimate boundedness) and optimal.

UR - https://www.scopus.com/pages/publications/85135868240

U2 - 10.1109/ICCA54724.2022.9831894

DO - 10.1109/ICCA54724.2022.9831894

M3 - 会议稿件

AN - SCOPUS:85135868240

T3 - IEEE International Conference on Control and Automation, ICCA

SP - 740

EP - 745

BT - 2022 IEEE 17th International Conference on Control and Automation, ICCA 2022

PB - IEEE Computer Society

T2 - 17th IEEE International Conference on Control and Automation, ICCA 2022

Y2 - 27 June 2022 through 30 June 2022

ER -

Cooperative Game Oriented Optimal Design in Controlling Uncertain Underactuated Mechanical Systems

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this