Multi-loop model-based control structure for robot manipulators

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 491-499 ◽  
Author(s):  
Rafael Osypiuk ◽  
Bernd Finkemeyer ◽  
Friedrich M. Wahl
Keyword(s):  
Control Structure ◽  
Robot Manipulator ◽  
Loop Model ◽  
Loop Control ◽  
Model Based Control ◽  
Model Following Control ◽  
Model Following ◽  
Theoretical Assumptions ◽  
Quantitative Results ◽  
The Stability

Most nonlinear control concepts used in robotics are based on a more or less accurate inverse model of the robot. In contrast to this, the design and properties of a general $n$-loop control structure based on a divided forward model of the robot, the so-called multi-loop Model Following Control Structure ($n$-MFC), is presented in this paper. Its theoretical basics and its concept are explained. The stability and robustness of the proposed control structure is analyzed. The theoretical assumptions are verified in many experiments with a two-joint robot manipulator. Qualitative as well as quantitative results of the experiments are presented and discussed.

Simple two degree of freedom structures and their properties

Robotica ◽  
2006 ◽  
Vol 24 (3) ◽  
pp. 365-372 ◽  
Author(s):  
Rafael Osypiuk ◽  
Bernd Finkemeyer ◽  
Stanislaw Skoczowski
Keyword(s):  
Robot Manipulator ◽  
Design Procedure ◽  
Internal Model Control ◽  
Degree Of Freedom ◽  
Loop Control ◽  
Model Following Control ◽  
Model Following ◽  
Model Control ◽  
Quantitative Results ◽  
Two Degree Of Freedom

A two-degree of freedom control system that is most frequently encountered in practice is the so-called Internal Model Control (IMC) structure. However, the design procedure of such a structure does not present an easy task, which implies a limited utility of IMC. In this paper two alternative solutions are proposed that may be lumped together as Model-Following Control (MFC). These are two-loop control systems being easy to implement and offering interesting properties. Theoretical assumptions have been verified experimentally on a two-joint robot manipulator. Both qualitative and quantitative results yielded by experiments are presented and discussed.

Forward-model-based control system for robot manipulators

Robotica ◽  
2004 ◽  
Vol 22 (2) ◽  
pp. 155-161 ◽  
Author(s):  
Rafael Osypiuk ◽  
Bernd Finkemeyer ◽  
Friedrich M. Wahl
Keyword(s):  
Control System ◽  
Robot Manipulators ◽  
Forward Model ◽  
Model Based Control ◽  
Model Based ◽  
Model Following Control ◽  
Model Following ◽  
Control Concept ◽  
Quantitative Results ◽  
Linear Controllers

Although numerous sophisticated nonlinear control algorithms exist in literature, it is still state of the art to use simple linear joint controllers in industrial robotic systems. Most nonlinear concepts are based on a more or less accurate inverse model of the robot. In this paper a forward-model-based control system, the so-called Model Following Control (MFC), for robot manipulators is presented. Its theoretical basics and its concept are explained. The quality and the applicability of the MFC control concept has been analyzed in many experiments. The MFC system is compared with classical linear controllers and nonlinear feedforward controllers with respect to robustness. Qualitative as well as quantitative results are presented and discussed.

Double-Loop Model Following Adaptive Control System of Robot Manipulator

CIRP Annals ◽  
1987 ◽  
Vol 36 (1) ◽  
pp. 335-338
Author(s):  
J.Z. Tang ◽  
G.P. Yang ◽  
H.H. Yang ◽  
G.Q. Yao
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Robot Manipulator ◽  
Double Loop ◽  
Loop Model ◽  
Adaptive Control System ◽  
Model Following

scholarly journals A new sensorless speed control structure for PMSM using reference model

2017 ◽  
Vol 65 (4) ◽  
pp. 489-496 ◽  
Author(s):  
K. Urbanski
Keyword(s):  
Control Structure ◽  
Reference Model ◽  
Main Idea ◽  
Position Estimation ◽  
Precise Control ◽  
Model Following Control ◽  
Model Following ◽  
Voltage Vector ◽  
Speed Range ◽  
Motor Model

AbstractIn the paper a new sensorless control structure for the PMSM drive is presented. Such a structure is especially recommended for speed in the range of single revolutions per second (excluding standstill). The method uses a back EMF observer for position estimation. However, there is no need to estimate the speed. This is a big advantage because of possible irregularity of estimated back EMF in this speed range, which makes the calculation of speed difficult or impossible. The proposed structure is similar to the model following control, but the reference model attempts to track the motor operating point. The main idea is to utilize as a reference a model of the whole drive, including speed and current controllers and motor model. Such a model produces reference voltage for the real inverter. However, an extra unit – called rotator – is needed to provide precise control of direct axis current, which is sensitive to the improper position of the voltage vector. The rotator acts as a kind of compensator for error of position estimation.

scholarly journals A Suitable Structure to Control the System of Quad-rotor Miniature Aerial Vehicles

2018 ◽  
Vol 9 (4) ◽  
pp. 1634
Author(s):  
Van-Dai Bui ◽  
Trong-Thang Nguyen ◽  
Ngoc-Hoan Than ◽  
Duc-Minh Nguyen
Keyword(s):  
Degrees Of Freedom ◽  
Control Structure ◽  
Loop Control ◽  
Single Loop ◽  
Aerial Vehicles ◽  
Real Model ◽  
Remote Sensor ◽  
Suitable Structure ◽  
Point To Point ◽  
The Stability

Miniature Aerial Vehicles with four rotors is called Quad-rotor MAV, popularly used in aspects of life such military, civilian products, processes and remote sensor, etc. In this paper, the authors present the suitable structure of control system for the Quad-rotor MAV. The first, the Six Degrees of Freedom (6 DOF) of the Quad-rotor MAV dynamic model is built. After, the control structure with the single loop is built. But in the single-loop system, only four control signals of Quad-rotor MAV can be controlled, so the Quad-rotor MAV can be reached the height only and keep the stability. However, it is important to note that we have to well-known the orbit of the Quad-rotor MAV flight; the Quad-rotor MAV must fly point-to-point exactly, so the six coordinate variables must be controlled. So, the double loop control structure system is proposed to do that. Finally, the simulation results analysis and the experimental results of the real model are explored to prove the effectiveness of the proposed structure.

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