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Predefined performance control for fuzzy robotic systems with measurement noise: Adaptation, robustness, and fuzzy optimization

Abstract

This study investigates a novel adaptive robust control for robotic systems to unify the research of prescribed performance control (PPC), uncertainty, and measurement noise. The focus is to achieve the PPC for robotic systems with the simultaneous existence of uncertainty and measurement noise. To deal with the uncertainty, fuzzy set theory is adopted to quantify the uncertainty. To ensure that the tracking errors of robotic systems subject to uncertainty and measurement noise can always confined to the predefined bound, an error conversion mechanism is introduced, by which a new transformed state is obtained. Based on the error conversion mechanism and fuzzy quantification of uncertainty, a saturation -type adaptive robust control is proposed, which can ensure the uniform boundedness (UB) and uniform ultimate boundedness (UUB) of the new transformed state. Furthermore, the problem of control parameter optimization is investigated. A fuzzy -based performance index that consists of the system performance and control effort is proposed. The control parameter optimization problem is then converted into finding a control parameter such that the performance index is minimized. By rigorous proofs, the solution to the optimization problem exists and is unique. Finally, a numerical simulation is conducted to illustrate the effectiveness of the suggested method.

article Article

date_range 2024

language English

link Link of the paper

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Wang Faliang

Zhen Shengchao

Chen Ke

Zheng Hongmei

Chen Xiaofei

Wang Zhaodong

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Featured Keywords

Adaptive robust control

Prescribed performance

Uncertainty

Measurement noise

Fuzzy optimization

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Assessment of reinforced concrete building damages following the Kahramanmaraş earthquakes in Malatya, Turkey (February 6, 2023)

Abstract

Earthquakes of magnitude Mw = 7.7 and Mw = 7.6 hit the city of Kahramanmaraş (Turkey) on 6 February 2023. These earthquakes caused serious damage in 11 provinces in Turkey resulting in over 50,000 deaths and huge economic losses with the collapse of thousands of buildings. Two consecutive devastating earthquakes have severely damaged the reinforced concrete building stock located in Malatya. There are many reasons reinforced concrete structures suffer damage under the influence of seismic loads. These reasons can be listed as material and section properties that do not comply with earthquake codes, workmanship defects, ground parameters that are not considered and design errors, as seen in field investigations after earthquakes in Turkey in the past. In this research, a field study was conducted on reinforced concrete buildings damaged after the earthquakes in Malatya province. The causes of structural damages in reinforced concrete buildings between 6–26 years of age were assessed in terms of design and material defects. The structural damages were mainly caused due to insufficient stirrups in structural members, short column, strong beam–weak column, failures of infill walls, soft story type collapse, poor concrete quality, and reinforcement corrosion. In addition to the field investigation, the spectrum relationships created using raw acceleration data obtained from DEMP (Disaster and Emergency Management Presidency) stations in Malatya province were compared with the design response spectra.

article Article

date_range 2024

language English

link Link of the paper

Collapsed buildings

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