scholarly journals Identification and control of the motor‐drive servo turntable with the switched friction model

2020 ◽  
Vol 14 (5) ◽  
pp. 843-849
Author(s):  
Qian Zhang ◽  
Qunjing Wang ◽  
Cui Ninghao
Keyword(s):  
Friction Model ◽  
Motor Drive ◽  
Servo Turntable ◽  
And Control

Modeling and control of a mobile manipulator

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 607-613 ◽  
Author(s):  
J. H. Chung ◽  
S. A. Velinsky
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Harmful Effect ◽  
Euler Method ◽  
Friction Model ◽  
Mobile Manipulator ◽  
Wheel Slip ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

Friction Identification Using Evolution Strategies and Robust Control of Positioning Tables

1999 ◽  
Vol 121 (4) ◽  
pp. 619-624 ◽  
Author(s):  
Seon-Woo Lee ◽  
Jong-Hwan Kim
Keyword(s):  
Static Friction ◽  
Velocity Model ◽  
Friction Model ◽  
Evolution Strategies ◽  
Linear Feedback ◽  
Control Input ◽  
Identification Technique ◽  
Friction Identification ◽  
The Stability ◽  
And Control

This paper presents an identification technique using evolution strategies (ES) for an integrated friction model of a positioning table. The friction model is based on Karnopp’s friction-velocity model with the rising static friction and spring-like property. Using the (μ + λ)-ES, the system parameters are identified with the experimental input and output data. The proposed control law consists of a conventional linear feedback control input, a friction compensation term and a sliding control input. The proposed control scheme can guarantee the stability of the overall system, even in the presence of the external disturbances and the modeling error between the real friction and the identified model. Experiments on an positioning table, called X-Y table, demonstrate the effectiveness of the proposed identification and control schemes.

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