scholarly journals Manipulator Dynamic Nonlinearity Approximation Based on Polytopic LPV Modeling for Robot Tracking Control Problem

2022 ◽  
Author(s):  
Ali Fazli ◽  
Mohammad Hosein Kazemi
Keyword(s):  
Control Problem ◽  
Tracking Control ◽  
Robot Tracking ◽  
Dynamic Nonlinearity

Adaptive sliding tracking control for nonlinear uncertain robotic systems with unknown actuator nonlinearities

Robotica ◽  
2021 ◽  
pp. 1-20
Author(s):  
Shubo Liu ◽  
Guoquan Liu ◽  
Shengbiao Wu
Keyword(s):  
Control Problem ◽  
Prior Knowledge ◽  
Control Strategy ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Tracking Error ◽  
Small Neighborhood ◽  
Robotic Systems ◽  
Actuator Nonlinearities ◽  
Simulation Results

Abstract This study is concerned with the tracking control problem for nonlinear uncertain robotic systems in the presence of unknown actuator nonlinearities. A novel adaptive sliding controller is designed based on a robust disturbance observer without any prior knowledge of actuator nonlinearities and system dynamics. The proposed control strategy can guarantee that the tracking error eventually converges to an arbitrarily small neighborhood of zero. Simulation results are included to demonstrate the effectiveness and superiority of the proposed strategy.

scholarly journals Tracking Control of a Class of Chaotic Systems

Symmetry ◽  
2019 ◽  
Vol 11 (4) ◽  
pp. 568 ◽  
Author(s):  
Anqing Yang ◽  
Linshan Li ◽  
Zuoxun Wang ◽  
Rongwei Guo
Keyword(s):  
Control Problem ◽  
Periodic Orbits ◽  
Chaotic System ◽  
Tracking Control ◽  
Reference System ◽  
Chaotic Systems ◽  
Asymptotic Tracking ◽  
The Given

This paper investigates the asymptotic tracking control problem of the chaotic system. Firstly, a reference system is presented, the output of which can asymptotically track a given command. Then, a both physically implementable and simple controller is designed, by which the given chaotic system synchronizes the reference system, and thus the output of such chaotic systems can asymptotically track the given command. It should be pointed out that the output of the given chaotic system can asymptotically track arbitrary desired periodic orbits. Finally, several illustrative examples are taken as example to show the validity and effectiveness of the obtained results.

Model-Free Algorithm for Friction Torque Adaptive Identification and Compensation

2010 ◽  
Vol 29-32 ◽  
pp. 155-162
Author(s):  
Li Jun Zheng ◽  
Xin Mei Cheng ◽  
Shan Shan Chen
Keyword(s):  
Nonlinear System ◽  
Control Problem ◽  
Tracking Control ◽  
Hydraulic System ◽  
Friction Torque ◽  
Position Tracking ◽  
Adaptive Identification ◽  
Model Free ◽  
Mathematics Knowledge ◽  
Position Tracking Control

In order to solve the electro-hydraulic system position tracking control problem, which caused by the nonlinear system friction torque disturbance, a model-free algorithm for the friction torque adaptive identification and compensation was put forward. The algorithm is based on the application mathematics knowledge and matching & following principle. It can accommodate to all situations with the friction torque (force) variety. The simulation result indicates that the algorithm can restrains the interference of the friction torque (force) effectively, and the system’s low speed character and tracking performance were been improved.

Region-Reaching Control of a Flexible-Joint Manipulator

2020 ◽  
Vol 142 (11) ◽  
Author(s):  
J. W. Yu ◽  
X. H. Zhang ◽  
J. C. Ji ◽  
J. Y. Tian ◽  
J. Zhou
Keyword(s):  
Control Problem ◽  
Tracking Control ◽  
Control Algorithm ◽  
Objective Functions ◽  
Flexible Joint ◽  
Point Tracking ◽  
Control Scheme ◽  
Lyapunov Stability Analysis ◽  
Flexible Joint Manipulator ◽  
Theoretical Results

Abstract This paper addresses the region-reaching control problem for a flexible-joint robotic manipulator which is formulated by Lagrangian dynamics. An adaptive control scheme is proposed for the manipulator system having two constrained regions which are constructed by selecting appropriate objective functions. The two joints of the flexible-joint manipulator can be, respectively, confined in different regions, and this gives more flexibility than the traditional fixed-point tracking control. By performing a straightforward Lyapunov stability analysis, a simple control algorithm is established to provide a solution for the region-reaching control problem. Finally, numerical simulations are given to validate the theoretical results.

Experimental Study on Optimal Tracking Control of a Micro Ground Vehicle

2017 ◽  
Vol 29 (4) ◽  
pp. 757-765 ◽  
Author(s):  
Soichiro Watanabe ◽  
◽  
Masanori Harada
Keyword(s):  
Experimental Study ◽  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Predictive Control ◽  
Tracking Control ◽  
Reference Trajectory ◽  
Ground Vehicle ◽  
Optimal Tracking ◽  
Tracking Controller

This paper investigates the application of optimal control to a micro ground vehicle (MGV) experimentally. The model predictive control (MPC) technique is used for the overall tracking controller during the maneuver. The reference trajectory for MPC is preliminarily obtained by numerical computation of the optimal control problem, which is prescribed as a minimum-time maneuver. The results provide nominal tracking performance and validate the feasibility of the approach.

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