Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators

Robotica ◽  
1991 ◽  
Vol 9 (3) ◽  
pp. 319-326 ◽  
Author(s):  
Devendra P. Garg
Keyword(s):  
Adaptive Control ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Nonlinear Dynamic ◽  
Torque Control ◽  
Control Action ◽  
Relative Importance ◽  
Computed Torque Control ◽  
Torque Control Strategy ◽  
Computed Torque

SUMMARYThis paper deals with an investigation of the relative importance of robotic characteristics typically associated with nonlinear manipulators. An IBM 7540 SCARA type of robot is used for simulation, and results are presented for decentralized proportional plus derivative control action applied to individual robot joints, and the use of an adaptive computed torque control strategy is illustrated. The influence of variations in payload and robot parameters on trajectory tracking is also shown.

scholarly journals Online MTPA Trajectory Tracking of IPMSM Based on a Novel Torque Control Strategy

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3261 ◽  
Author(s):  
Jianxia Sun ◽  
Cheng Lin ◽  
Jilei Xing ◽  
Xiongwei Jiang
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Torque Control ◽  
Current Reference ◽  
Torque Control Strategy ◽  
Unit Model ◽  
Interior Permanent Magnet ◽  
Simulation And Experiment ◽  
The Stability ◽  
Maximum Torque Per Ampere

The maximum-torque-per-ampere (MTPA) scheme is widely used in the interior permanent magnet synchronous machine (IPMSM) drive system to reduce copper losses. However, MTPA trajectory is complicated to solve analytically. In order to realize online MTPA trajectory tracking, this paper proposes a novel torque control strategy. The torque control is designed to be closed form. Considering the machine reluctance torque as the torque feedback, when this is compared with the torque reference, then the excitation torque reference can be obtained. Since the excitation torque is proportional to the q-axis current, the q-axis current reference can be fed by the excitation torque reference through a proportional regulator. Once the q-axis current reference is given, the d-axis current reference can be calculated based on the per-unit model, which aims to simplify the calculation and make the control strategy independent of machine parameters. In this paper, the stability of the control system is demonstrated. Meanwhile, simulation and experiment results show this torque control strategy can realize MTPA trajectory tracking online and have success in transients.

scholarly journals Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880173 ◽  
Author(s):  
Chao Chen ◽  
Chengrui Zhang ◽  
Tianliang Hu ◽  
Hepeng Ni ◽  
WeiChao Luo
Keyword(s):  
Trajectory Tracking ◽  
Robotic Manipulators ◽  
State Observer ◽  
Torque Control ◽  
Extended State Observer ◽  
Effective Control ◽  
Extended State ◽  
Uncertain Dynamics ◽  
Computed Torque Control ◽  
Computed Torque

Computed torque control is an effective control scheme for trajectory tracking of robotic manipulators. However, computed torque control requires precise dynamic models of robotic manipulators and is severely affected by uncertain dynamics. Thus, a new scheme that combines a computed torque control and a novel model-assisted extended state observer is developed for the robust tracking control of robotic manipulators subject to structured and unstructured uncertainties to overcome the disadvantages of computed torque control and exploit its merits. The model-assisted extended state observer is designed to estimate and compensate these uncertain dynamics as a lumped disturbance online, which further improves the disturbance rejection property of a robotic system. Global uniform ultimate boundedness stability with an exponential convergence of a closed-loop system is verified through Lyapunov method. Simulations are performed on a two degree-of-freedom manipulator to verify the effectiveness and superiority of the proposed controller.

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