Stackelberg Game-Based Control Design for Fuzzy Underactuated Mechanical Systems With Inequality Constraints
针对带有模糊不确定性和不等式约束的欠驱动机械系统，提出一种基于Stackelberg博弈的自适应鲁棒控制方法，通过微分同胚技术将约束融入性能指标，并在自主轮式移动机器人上验证了可行性。
A Stackelberg game-based design for an adaptive robust control for the fuzzy uncertain underactuated mechanical systems (UMSs) is proposed. The emphasis is on fuzzy-based uncertainty and inequality constraint. The uncertainty is time varying and bounded within a prescribed fuzzy set. For the inequality constraint, we creatively have it merge into constraint-following performance by a diffeomorphism technique. An adaptive robust control strategy is then proposed. Deterministic performance is guaranteed provided the control design parameters are within feasible regions. To further enhance the performance, we introduce a two-player Stackelberg game setting. The optimal choice of design parameters can be solved. The feasibility of this design is demonstrated on an autonomous wheeled mobile robot (AWMR), which is confined in a bounded space.