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dc.contributor.authorLiu, Pengcheng
dc.contributor.authorYu, Hongnian
dc.contributor.authorCang, Shuang
dc.date.accessioned2019-01-30T09:56:40Z
dc.date.available2019-01-30T09:56:40Z
dc.date.issued2018-07-07
dc.identifier.citationLiu, P., Yu, H. and Cang, S. (2018) ‘Optimized adaptive tracking control for an underactuated vibro-driven capsule system’, Nonlinear Dynamics, 94(3): pp.1803-1817. DOI: 10.1007/s11071-018-4458-9.en_US
dc.identifier.issn1573-269X
dc.identifier.urihttp://hdl.handle.net/10369/10245
dc.descriptionArticle published in Nonlinear Dynamics on 07 July 2018 (online), available open access at: https://doi.org/10.1007/s11071-018-4458-9en_US
dc.description.abstractThis paper studies the issue of adaptive trajectory tracking control for an underactuated vibro-driven capsule system and presents a novel motion generation framework. In this framework, feasible motion trajectory is derived through investigating dynamic constraints and kernel control indexes that underlie the underactuated dynamics. Due to the underactuated nature of the capsule system, the global motion dynamics cannot be directly controlled. The main objective of optimization is to indirectly control the friction-induced stick–slip motions to reshape the passive dynamics and, by doing so, to obtain optimal system performance in terms of average speed and energy efficacy. Two tracking control schemes are designed using a closed-loop feedback linearization approach and an adaptive variable structure control method with an auxiliary control variable, respectively. The reference model is accurately matched in a finite-time horizon. The key point is to define an exogenous state variable whose dynamics is employed as a control input. The tracking performance and system stability are investigated through rigorous theoretic analysis. Extensive simulation studies are conducted to demonstrate the effectiveness and feasibility of the developed trajectory model and optimized adaptive control system.en_US
dc.language.isoenen_US
dc.publisherSpringeren_US
dc.relation.ispartofseriesNonlinear Dynamics;
dc.titleOptimized adaptive tracking control for an underactuated vibro-driven capsule systemen_US
dc.typeArticleen_US
dc.identifier.doihttps://doi.org/10.1007/s11071-018-4458-9
dcterms.dateAccepted2018-06-28
rioxxterms.funderCardiff Metropolitan Universityen_US
rioxxterms.identifier.projectCardiff Metropolian (Internal)en_US
rioxxterms.versionVoRen_US
rioxxterms.licenseref.urihttps://creativecommons.org/licenses/by/4.0/en_US
rioxxterms.licenseref.startdate2019-01-30
rioxxterms.funder.project37baf166-7129-4cd4-b6a1-507454d1372een_US


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