lln
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- Lecturer
- Supervisor of Master's Candidates
- Name (Pinyin):lln
- School/Department:智能科学与工程学院
- Degree:Doctoral Degree in Engineering
- Professional Title:Lecturer
- Status:Employed
- Teacher College:College of Intelligent Systems Science and Engineering
- Discipline:Control Theory and Control Engineering
Contact Information
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- Paper Publications
Longnan Li Admittance-Based Adaptive Predefined-Time Fault-Tolerant Control for Physical Human–Robot Interaction With Prescribed Tracking
Release time:2025-07-11 Hits:
- DOI number:10.1109/TIE.2025.3577314
- Journal:IEEE Transactions on Industrial Electronics
- Key Words:Adaptive control, fault-tolerant control, physical human–robot interaction (pHRI), prescribed tracking, predefined-time stability
- Abstract:Compliant tracking control in physical human–robot interaction (pHRI) systems is becoming increasingly important. However, without force sensors, the overlap of multiple uncertainties and contact forces poses significant challenges to compliant tracking within admittance-based frameworks. Meanwhile, actuator faults in robots can degrade tracking performance, leading to pHRI system instability and safety hazards. To this end, the compliance control issue for pHRI systems with prescribed tracking under actuator faults is investigated. First, we treat multiple uncertainties and contact forces as an entirety and design an adaptive online updating law to reconstruct operator’s behavior. Second, a novel prescribed performance function (PPF) is designed and integrated into the nonsingular virtual control term. The main advantage of the developed PPF lies in its ability to overcome the feasibility limitations of other PPFs, extending its applicability to arbitrary initial values. Following this, the adaptive technique is employed to solve the unknown control gain issue induced by actuator faults. Compared with finite-/fixed-time controllers, the developed approach can guarantee the transient and steady-state performance of the pHRI system under actuator faults, with convergence time being independent of initial values. Finally, numerous simulations and experiments are conducted to demonstrate the viability and feasibility of the developed approach.
- Indexed by:Journal paper
- Discipline:Engineering
- Translation or Not:no
- Date of Publication:2025
- Included Journals:SCI
- Links to published journals:https://ieeexplore.ieee.org/abstract/document/11078755