Further results on the global continuous control for finite-time and exponential stabilisation of constrained-input mechanical systems: desired conservative-force compensation and experiments

Abstract There are the problems in the traditional pressure-compensation flow-control valve, such as low flow control accuracy, small flow control difficulty, and limited flow range. For this, a method of continuous control pressure drop Δprated (i.e. the pressure drop across the main throttling orifice) to control flow-control valve flow is proposed. The precise control of small flow is realized by reducing the pressure drop Δprated and the flow range is amplified by increasing pressure drop Δprated. At the same time, it can also compensate the flow force to improve the flow control accuracy by regulating the pressure drop Δprated. In the research, the flow-control valve with controllable pressure compensation capability (FVCP) was designed firstly and theoretically analyzed. Then the sub-model model of PPRV and the joint simulation model of the FVCP were established and verified through experiments. Finally, the continuous control characteristics of pressure drop Δprated, the flow characteristics, and flow force compensation were studied. The research results demonstrate that, compared with the traditional flow-control valve, the designed FVCP can adjust the compensation pressure difference in the range of 0∼3.4 MPa in real-time. And the flow rate can be altered within the range of 44%∼136% of the rated flow. By adjusting the compensation pressure difference to compensate the flow force, the flow control accuracy of the multi-way valve is improved, and the flow force compensation effect is obvious.

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Generalized Continuous Control Design for the Finite-Time Regulation of Robot Manipulators with Bounded Inputs

10.1007/978-3-030-90033-5_1 ◽

2021 ◽

pp. 1-8

Author(s):

Arturo Zavala-Río

Keyword(s):

Finite Time ◽

Robot Manipulators ◽

Control Design ◽

Continuous Control

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A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme

Journal of Computational and Nonlinear Dynamics ◽

10.1115/1.4042293 ◽

2019 ◽

Vol 14 (3) ◽

Cited By ~ 9

Author(s):

Vo Anh Tuan ◽

Hee-Jun Kang

Keyword(s):

Finite Time ◽

Control Method ◽

Sliding Mode ◽

Robotic Manipulators ◽

Control Law ◽

Continuous Control ◽

Terminal Sliding Mode ◽

Finite Time Convergence ◽

Position Errors ◽

Time Control

In this study, a new finite time control method is suggested for robotic manipulators based on nonsingular fast terminal sliding variables and the adaptive super-twisting method. First, to avoid the singularity drawback and achieve the finite time convergence of positional errors with a fast transient response rate, nonsingular fast terminal sliding variables are constructed in the position errors' state space. Next, adaptive tuning laws based on the super-twisting scheme are presented for the switching control law of terminal sliding mode control (TSMC) so that a continuous control law is extended to reject the effects of chattering behavior. Finally, a new finite time control method ensures that sliding motion will take place, regardless of the effects of the perturbations and uncertainties on the robot system. Accordingly, the stabilization and robustness of the suggested control system can be guaranteed with high-precision performance. The robustness issue and the finite time convergence of the suggested system are totally confirmed by the Lyapunov stability principle. In simulation studies, the experimental results exhibit the effectiveness and viability of our proposed scheme for joint position tracking control of a 3DOF PUMA560 robot.

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