Adaptive Robust Control for Fuzzy Mechanical Systems in Confined Spaces: Nash Game Optimization Design

摘要

A confined space is an area in an industrial facility that has limited access and allows only restricted movement due to physical constraints. Confined spaces often require special safety precautions and may be subject to specific regulations to ensure the well-being of workers. Flexible manufacturing cells typically work in confined spaces in order to increase efficiency and decrease cost. The operation can be further complicated if uncertainty is involved. We propose an adaptive robust controller for uncertain mechanical systems in a confined space to enhance system performance while ensuring system safety. The design procedure consists of five phases: constraint-following formulation, fuzzy uncertainty prescription, diffeomorphism transformation, adaptive robust control design, and Nash game-based optimization. The effectiveness of the control scheme is demonstrated by numerical simulation experiments for a humanoid robot arm.