A quick position control strategy based on optimization algorithm for a class of first-order nonholonomic system

2018 ◽  
Vol 460-461 ◽  
pp. 264-278 ◽  
Author(s):  
Pan Zhang ◽  
Xuzhi Lai ◽  
Yawu Wang ◽  
Chun-Yi Su ◽  
Min Wu
Keyword(s):  
Optimization Algorithm ◽  
Control Strategy ◽  
Nonholonomic System ◽  
Position Control ◽  
First Order

A multi-objective operation strategy optimization for ice storage systems based on decentralized control structure

2020 ◽  
Vol 42 (1) ◽  
pp. 62-81
Author(s):  
Yanhuan Ren ◽  
Junqi Yu ◽  
Anjun Zhao ◽  
Wenqiang Jing ◽  
Tong Ran ◽  
...  
Keyword(s):  
Energy Saving ◽  
Decentralized Control ◽  
Optimization Algorithm ◽  
Control Strategy ◽  
Load Distribution ◽  
Air Conditioning ◽  
Control Structure ◽  
Ice Storage ◽  
Swarm Optimization ◽  
Multi Objective

Improving the operational efficiency of chillers and science-based planning the cooling load distribution between the chillers and ice tank are core issues to achieve low-cost and energy-saving operations of ice storage air-conditioning systems. In view of the problems existing in centralized control architecture applied in heating, ventilation, and air conditioning, a distributed multi-objective particle swarm optimization improved by differential evolution algorithm based on a decentralized control structure was proposed. The energy consumption, operating cost, and energy loss were taken as the objectives to solve the chiller’s hourly partial load ratio and the cooling ratio of ice tank. A large-scale shopping mall in Xi’an was used as a case study. The results show that the proposed algorithm was efficient and provided significantly higher energy-savings than the traditional control strategy and particle swarm optimization algorithm, which has the advantages of good convergence, high stability, strong robustness, and high accuracy. Practical application: The end equipment of the electromechanical system is the basic component through the building operation. Based on this characteristic, taken electromechanical equipment as the computing unit, this paper proposes a distributed multi-objective optimization control strategy. In order to fully explore the economic and energy-saving effect of ice storage system, the optimization algorithm solves the chillers operation status and the load distribution. The improved optimization algorithm ensures the diversity of particles, gains fast optimization speed and higher accuracy, and also provides a better economic and energy-saving operation strategy for ice storage air-conditioning projects.

Collaborative Tracking Control Strategy for Autonomous Excavation of a Hydraulic Excavator

2021 ◽  
Vol 10 (1) ◽  
pp. 43
Author(s):  
Fattah Hanafi Sheikhha ◽  
Ali Afzalaghaeinaeini ◽  
Jaho Seo
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Position Control ◽  
Simulation Models ◽  
Hydraulic Excavator ◽  
Tracking Errors ◽  
Collaborative Tracking ◽  
Autonomous Excavation ◽  
Tip Position ◽  
Electrohydraulic Actuators

A hydraulic excavator consists of multiple electrohydraulic actuators (EHA). Due to uncertainties and nonlinearities in EHAs, it is challenging to devise a proper control strategy. To tackle this issue, a major goal of our study is to provide an efficient control strategy to minimize tracking errors of the bucket tip position for autonomous excavation. To accomplish the goal, the study offers a collaboration of PID and fuzzy controllers that are used to compensate for contour errors and achieve accurate actuator position control, respectively. Co-simulation models including control algorithms and hydraulic components were created using Matlab and Amesim to validate the performance of the designed controllers. Simulations indicate that the proposed method enables achieving accurate tracking control for autonomous excavation with small tracking errors despite the nonlinear characteristics of the hydraulic excavator system.

Time-Optimal Coordination Control for the Gear-Shifting Process in Electric-Driven Mechanical Transmission (Dog Clutch) without Impacts

2020 ◽  
Vol 9 (2) ◽  
pp. 155-168
Author(s):  
Ziwang Lu ◽  
◽  
Guangyu Tian ◽  
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Method ◽  
Synchronization Control ◽  
Mechanical Transmission ◽  
Coordination Control ◽  
Optimal Position ◽  
Drive Motor ◽  
Time Optimal ◽  
Optimal Coordination

Torque interruption and shift jerk are the two main issues that occur during the gear-shifting process of electric-driven mechanical transmission. Herein, a time-optimal coordination control strategy between the the drive motor and the shift motor is proposed to eliminate the impacts between the sleeve and the gear ring. To determine the optimal control law, first, a gear-shifting dynamic model is constructed to capture the drive motor and shift motor dynamics. Next, the time-optimal dual synchronization control for the drive motor and the time-optimal position control for the shift motor are designed. Moreover, a switched control for the shift motor between a bang-off-bang control and a receding horizon control (RHC) law is derived to match the time-optimal dual synchronization control strategy of the drive motor. Finally, two case studies are conducted to validate the bang-off-bang control and RHC. In addition, the method to obtain the appropriate parameters of the drive motor and shift motor is analyzed according to the coordination control method.

Accurate Position Control of a Pneumatic Actuator

1990 ◽  
Vol 112 (4) ◽  
pp. 734-739 ◽  
Author(s):  
Jiing-Yih Lai ◽  
Chia-Hsiang Menq ◽  
Rajendra Singh
Keyword(s):  
Control Strategy ◽  
Pulse Width Modulation ◽  
Position Control ◽  
Integral Control ◽  
Pneumatic Actuators ◽  
Actuator Dynamics ◽  
Position Accuracy ◽  
Modulation Mode ◽  
Nonlinear Mechanical ◽  
Accurate Position

We propose a new control strategy for on-off valve controlled pneumatic actuators and robots with focus on the position accuracy. A mathematical model incorporating pneumatic process nonlinearities and nonlinear mechanical friction has been developed to characterize the actuator dynamics; this model with a few simplifications is then used to design the controller. In our control scheme, one valve is held open and the other is operated under the pulse width modulation mode to simulate the proportional control. An inner loop utilizing proportional-plus-integral control is formed to control the actuator pressure, and an outer loop with displacement and velocity feedbacks is used to control the load displacement. Also, a two staged feedforward force is implemented to reduce the steady state error due to the nonlinear mechanical friction. Experimental results on a single-degree-of-freedom pneumatic robot indicate that the proposed control system is better than the conventional on-off control strategy as it is effective in achieving the desired position accuracy without using any mechanical stops in the actuator.

scholarly journals Patient-Centered Robot-Aided Passive Neurorehabilitation Exercise Based on Safety-Motion Decision-Making Mechanism

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Lizheng Pan ◽  
Aiguo Song ◽  
Suolin Duan ◽  
Zhuqing Yu
Keyword(s):  
Decision Making ◽  
Control Strategy ◽  
Position Control ◽  
Impedance Control ◽  
Control Strategies ◽  
Movement Speed ◽  
Stroke Patients ◽  
Patient Centered ◽  
Motion Speed ◽  
Clinical Experiments

Safety is one of the crucial issues for robot-aided neurorehabilitation exercise. When it comes to the passive rehabilitation training for stroke patients, the existing control strategies are usually just based on position control to carry out the training, and the patient is out of the controller. However, to some extent, the patient should be taken as a “cooperator” of the training activity, and the movement speed and range of the training movement should be dynamically regulated according to the internal or external state of the subject, just as what the therapist does in clinical therapy. This research presents a novel motion control strategy for patient-centered robot-aided passive neurorehabilitation exercise from the point of the safety. The safety-motion decision-making mechanism is developed to online observe and assess the physical state of training impaired-limb and motion performances and regulate the training parameters (motion speed and training rage), ensuring the safety of the supplied rehabilitation exercise. Meanwhile, position-based impedance control is employed to realize the trajectory tracking motion with interactive compliance. Functional experiments and clinical experiments are investigated with a healthy adult and four recruited stroke patients, respectively. The two types of experimental results demonstrate that the suggested control strategy not only serves with safety-motion training but also presents rehabilitation efficacy.

Smart Prosthetic Hand with Object Slippage Detection, Measurement, and Control

2014 ◽  
Vol 5 (3) ◽  
pp. 25-48
Author(s):  
Girish Sriram ◽  
Alex Jensen ◽  
Steve C. Chiu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Sensory Feedback ◽  
Position Control ◽  
Tactile Feedback ◽  
Human Hand ◽  
Computing Platform ◽  
Emg Signal ◽  
A New Technique

The human hand along with its fingers possess one of the highest numbers of nerve endings in the human body. It thus has the capacity for the richest tactile feedback for positioning capabilities. This article shares a new technique of controlling slippage. The sensing system used for the detection of slippage is a modified force sensing resistor (FSR®). The control system is a fuzzy logic control algorithm with multiple rules that is designed to be processed on a mobile handheld computing platform and integrated/working alongside a traditional Electromyography (EMG) or Electroencephalography (EEG) based control system used for determining position of the fingers. A 5 Degrees of Freedom (DOF) hand, was used to test the slippage control strategy in real time. First a reference EMG signal was used for getting the 5 DOF hand to grasp an object, using position control. Then a slip was introduced to see the slippage control strategy at work. The results based on the plain tactile sensory feedback and the modified sensory feedback are discussed.

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