Work

Extended State Observer-Based Design of a Bilateral Dual-Kernel Fuzzy Control Algorithm

Year: 2026

Type: article

Abstract: For nonlinear problems in robotic systems, such as parametric uncertainties and external disturbances, this paper proposes a control method based on bilateral dual-kernel fuzzy control. To address the issue that joint angular velocities cannot be directly measured, an extended state observer (ESO) is introduced to simultaneously estimate the joint positions, velocities, and system nonlinearities, thereby achieving effective reconstruction of the system states. In terms of controller design, a dual-kernel function is adopted instead of the conventional single-kernel function. By exploiting its enhanced feature representation capability and fast response characteristics, the proposed approach improves the system dynamic response speed and reduces the settling time. For nonlinear residuals, the bilateral parallel control strategy further improves the approximation accuracy of the control system. Multiple dual-kernel fuzzy sub-controllers are integrated in a bilateral parallel manner, and the weighting parameters of both the fuzzy system and the bilateral structure are updated in real time based on the approximation error. This enables accurate approximation and compensation of the residuals estimated by the extended state observer. The stability of the closed-loop system is rigorously proved based on Lyapunov theory. Finally, simulations on the MATLAB R2022b platform and experiments on a robotic experimental platform are conducted to verify that the proposed bilateral dual-kernel fuzzy controller achieves significantly improved control accuracy for a two-degree-of-freedom robotic manipulator system compared with conventional controllers, thereby demonstrating the effectiveness and superiority of the proposed algorithm.

Source: Mathematics

DOI: 10.3390/math14101765

Authors: Chuqiang Liu, Lujun Chen, Zhulin Wang, Qunpo Liu

Institutions: China Huadian Corporation (China), China University of Mining and Technology, Henan Polytechnic University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funders: National Natural Science Foundation of China, Henan Provincial Science and Technology Research Project, Science and Technology Innovation Talents in Universities of Henan Province