Compliance Control and Stability Analysis of Cooperating Robot manipulators

Robotica ◽  
1989 ◽  
Vol 7 (3) ◽  
pp. 191-198 ◽  
Author(s):  
H. Kazerooni
Keyword(s):  
Stability Analysis ◽  
Control Strategy ◽  
Position Control ◽  
Control Method ◽  
Robot Manipulators ◽  
Contact Point ◽  
Sensitivity Function ◽  
Compliance Control ◽  
Cooperating Robots ◽  
The Stability

SUMMARYThe work presented here is the description of the control strategy of two cooperating robots. A two–finger hand is an example of such a System. The control method allows for position control of the contact point by one of the robots while the other robot controls the contact force. The stability analysis of two robot manipulators has been investigated using unstructured models for dynamic behavior of robot manipulators. For the stability of two robots, there must be some initial compliance in either robot. The initial compliance in the robots can be obtained by a non-zero sensitivity function for the tracking controller or a passive compliant element such as an RCC.

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.

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

Study on Grid-Injected System with Regenerative Braking Energy for Subway

2012 ◽  
Vol 516-517 ◽  
pp. 1437-1442
Author(s):  
Qiu Rui Zhang ◽  
Bao Ming Ge ◽  
Da Qiang Bi
Keyword(s):  
Temperature Rise ◽  
Control Strategy ◽  
Control Method ◽  
Design Procedure ◽  
Energy Utilization ◽  
Regenerative Braking ◽  
Resistance Heating ◽  
Urban Rail ◽  
Bus Voltage ◽  
The Stability

At present, the rate of energy utilization is low for the transit regenerative braking on urban rail; most of the energy is consumed by the resistance heating. In this paper, a regenerative braking energy injected-grid device is designed, which makes use of regenerative braking energy and effectively reduce the temperature rise caused by the resistance in the tunnel. The paper describes the composition and the design procedure of regenerative braking energy injected-grid device and presents a control strategy of device. The simulation of the single train model verifies that the stability of DC-bus voltage can be maintained and more power can be feedback to the grid by the proposed device when the train is braking. The feasibility and effectiveness of the proposed control method are validated by the experimental results.

scholarly journals Control of Near-Grazing Dynamics in the Two-Degree-of-Freedom Vibroimpact System with Symmetrical Constraints

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Zihan Wang ◽  
Jieqiong Xu ◽  
Shuai Wu ◽  
Quan Yuan
Keyword(s):  
Control Strategy ◽  
Stability Criterion ◽  
Control Method ◽  
Degree Of Freedom ◽  
Local Analysis ◽  
Grazing Bifurcation ◽  
Vibroimpact System ◽  
The Stability ◽  
Two Parameters ◽  
Two Degree Of Freedom

The stability of grazing bifurcation is lost in three ways through the local analysis of the near-grazing dynamics using the classical concept of discontinuity mappings in the two-degree-of-freedom vibroimpact system with symmetrical constraints. For this instability problem, a control strategy for the stability of grazing bifurcation is presented by controlling the persistence of local attractors near the grazing trajectory in this vibroimpact system with symmetrical constraints. Discrete-in-time feedback controllers designed on two Poincare sections are employed to retain the existence of an attractor near the grazing trajectory. The implementation relies on the stability criterion under which a local attractor persists near a grazing trajectory. Based on the stability criterion, the control region of the two parameters is obtained and the control strategy for the persistence of near-grazing attractors is designed accordingly. Especially, the chaos near codimension-two grazing bifurcation points was controlled by the control strategy. In the end, the results of numerical simulation are used to verify the feasibility of the control method.

Switching Control Design for Switched Fuzzy Discrete-Time Systems

2014 ◽  
Vol 1006-1007 ◽  
pp. 711-714
Author(s):  
Hong Yang ◽  
Huan Huan Lü ◽  
Le Zhang
Keyword(s):  
Stability Analysis ◽  
Discrete Time ◽  
Fuzzy Systems ◽  
Closed Loop ◽  
Control Method ◽  
Control Design ◽  
Switching Control ◽  
Discrete Time Systems ◽  
The Stability ◽  
Time Systems

This paper investigates the problems of stability analysis and stabilization for a class of switched fuzzy discrete-time systems. Based on a common Lyapunov functional, a switching control method has been developed for the stability analysis of switched discrete-time fuzzy systems. A new stabilization approach based on a switching parallel distributed compensation scheme is given for the closed-loop switched fuzzy systems. Finally, the illustrative example is provided to demonstrate the effectiveness of the techniques proposed in this paper.

scholarly journals A hybrid fault-tolerant control strategy for four-wheel independent drive vehicles

2021 ◽  
Vol 13 (9) ◽  
pp. 168781402110454
Author(s):  
Ruinan Chen ◽  
Jian Ou
Keyword(s):  
Real Time ◽  
Control Strategy ◽  
High Performance ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
The Stability ◽  
Model Reference Adaptive ◽  
Observation Results

In this paper, a hybrid fault-tolerant control strategy is putted forward to improve the stability of the four-wheel independent drive (4WID) electric vehicle with motor failures. To improve the handling performance of the vehicle with in-wheel motor failures, the faults of in-wheel motors are analyzed and modeled. Then, a model reference adaptive fault observer was designed to observe the faults in real-time. Based on the observation results, there are designed a model predictive control (MPC) based high-performance active fault-tolerant control (AFTC) strategy and a sliding mode control based high-robust passive fault-tolerant control (PFTC) strategy. However, the fault observation results may not always be accurately. For this circumstance, a hybrid fault-tolerant control strategy was designed to make the control method find a balance between optimality and robustness. Finally, a series of simulations are conducted on a hardware-in-loop (HIL) real-time simulator, the simulation results show that the control strategy designed in this paper is effectiveness.

scholarly journals Novel Voltage-Based Weighted Hybrid Force/Position Control for Redundant Robot Manipulators

Electronics ◽  
2022 ◽  
Vol 11 (2) ◽  
pp. 179
Author(s):  
Jun Dai ◽  
Yi Zhang ◽  
Hua Deng
Keyword(s):  
Dynamic Model ◽  
Control Algorithm ◽  
Position Control ◽  
Impedance Control ◽  
Robot Manipulators ◽  
Lyapunov Stability Theory ◽  
Control Laws ◽  
Redundant Robot ◽  
Transport Experiment ◽  
The Stability

Existing hybrid force/position control algorithms mostly explicitly contain a dynamic model. Moreover, force and position controllers will be switched frequently. To solve the above problems, a novel voltage-based weighted hybrid force/position control algorithm is proposed for redundant robot manipulators. Firstly, mapping between voltage and terminal position and orientation is established so that the designed controller can be simplified by adopting the motor current as the feedback to replace the tedious calculation of the dynamic model. Secondly, a voltage-based weighted hybrid force/position control algorithm is proposed to eliminate the selection matrix. Force and position control laws are summed directly through a weighted way to avoid the problems of space decomposition and switching. Thirdly, the stability is proven using Lyapunov stability theory, then the selection method for weighted coefficient is provided. Fourthly, comparative simulations are performed. Results show that the proposed algorithm is suitable for impedance control and hybrid force/position control and can compensate for their deficiencies. Lastly, the transport experiment in the YZ plane is conducted. Results show that position and force accuracies in the Y- and Z-axis directions are 3.489 × 10−4 and 7.313 × 10−4 m and 1.238 × 10−1 and 1.997 × 10−1 N, respectively. Accordingly, it can effectively improve the operation capability and control accuracy.

scholarly journals Luenberger Position Observer Based on Deadbeat-Current Predictive Control for Sensorless PMSM

Electronics ◽  
2020 ◽  
Vol 9 (8) ◽  
pp. 1325 ◽  
Author(s):  
Yuan Zhu ◽  
Ben Tao ◽  
Mingkang Xiao ◽  
Gang Yang ◽  
Xingfu Zhang ◽  
...  
Keyword(s):  
Predictive Control ◽  
Control Strategy ◽  
High Speed ◽  
Control Method ◽  
Permanent Magnet Synchronous Motor ◽  
Current Control ◽  
Luenberger Observer ◽  
Control Step ◽  
The Stability ◽  
Discrete Mathematical Model

Two problems can cause control performance degradation on permanent magnet synchronous motor (PMSM) systems, namely, fluctuation of PMSM parameters and the time delay between current sampling and command value update. In order to reduce the influence of these problems, a new current-predictive control strategy is proposed in this article for medium- and high-speed PMSM. This strategy is based on the discrete mathematical model of PMSM. This new control strategy consists of two main steps: First, an integrator is applied to calculate current compensation value; second, the predictive current value is obtained through deadbeat-current predictive method. The stability of predictive control system is also proved in the article. With this deadbeat-current predictive control scheme, the real current can reach the desired value within one control-step. Based on this new current control method, Luenberger observer and phase-locked loop position tracker is applied in this article. Experimental results for 0.4 kW surface-mounted PMSM confirm the validity and excellent performance for parameters fluctuation of new current predictive control.

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