Robust nonlinear control design for dynamic positioning of marine vessels with thruster system dynamics

2018 ◽  
Vol 94 (1) ◽  
pp. 365-376 ◽  
Author(s):  
Xin Hu ◽  
Jialu Du
Keyword(s):  
Nonlinear Control ◽  
System Dynamics ◽  
Control Design ◽  
Dynamic Positioning ◽  
Robust Nonlinear Control ◽  
Marine Vessels

Operator-Based Robust Nonlinear Control Design of a Robot Arm with Micro-Hand

2016 ◽  
Vol 28 (4) ◽  
pp. 568-578 ◽  
Author(s):  
Zhengxiang Ma ◽  
◽  
Aihui Wang ◽  
Tiejun Chen ◽  
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Nonlinear Control ◽  
Angular Position ◽  
Control Design ◽  
Robot Arm ◽  
Robust Nonlinear Control ◽  
Precise Position ◽  
Control Scheme ◽  
Loop Feedback

[abstFig src='/00280004/14.jpg' width='300' text='Robot arm with micro-hand system' ] This work focuses on a robust nonlinear control design of a robot arm with micro-hand (RAMH) by using operator-based robust right coprime factorization (RRCF) approach. In the proposed control system, we can control the endpoint position of robot arm and obtain the desired force of micro-hand to perform a task, and a miniature pneumatic curling soft (MPCS) actuator which can generate bidirectional curling motions in different positive and negative pressures is used to develop the fingers of micro-hand. In detail, to control successively the precise position of robot arm and the desired force of three fingers according to the external environment or task involved, this paper proposes a double-loop feedback control architecture using operator-based RRCF approach. First, the inner-loop feedback control scheme is designed to control the angular position of the robot arm, the operator controllers and the tracking controller are designed, and the robust stability and tracking conditions are derived. Second, the complex stable inner-loop and micro-hand with three fingers are viewed as two right factorizations separately, a robust control scheme using operator-based RRCF approach is presented to control the fingers forces, and the robust tracking conditions are also discussed. Finally, the effectiveness of the proposed control system is verified by experimental and simulation results.

scholarly journals Robust Nonlinear Control Design with Application to a Marine Cooling System

2012 ◽  
Vol 45 (13) ◽  
pp. 387-392 ◽  
Author(s):  
Michael Hansen ◽  
Jakob Stoustrup ◽  
Jan Dimon Bendtsen
Keyword(s):  
Nonlinear Control ◽  
Cooling System ◽  
Control Design ◽  
Robust Nonlinear Control
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