A coupled sliding-surface approach for the trajectory control of a flexible-link robot based on a distributed dynamic model

2005 ◽  
Vol 78 (9) ◽  
pp. 629-637 ◽  
Author(s):  
H.-H. Lee * ◽  
J. Prevost
Keyword(s):  
Dynamic Model ◽  
Trajectory Control ◽  
Sliding Surface ◽  
Flexible Link ◽  
Surface Approach

On the Properties of a Dynamic Model of Flexible Robot Manipulators

1998 ◽  
Vol 120 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Marco A. Arteaga
Keyword(s):  
Dynamic Model ◽  
Structural Properties ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Control Design ◽  
Flexible Manipulator ◽  
Robot Dynamics ◽  
Flexible Link ◽  
Flexible Robot

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

Modeling and Trajectory Control of a Forklift-Like Wheeled Robot

2014 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Asymptotic Stability ◽  
Real Time ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Trajectory Control ◽  
Control Law ◽  
Steering Control ◽  
Control Laws ◽  
Control Scheme ◽  
Trajectory Generator

In this paper, kinematic and dynamic models are derived for a forklift-like four-wheeled mobile robot, and then, based on the models, a new trajectory control scheme is designed and evaluated for the robot. The dynamic model, exhibiting non-minimum-phase characteristics, is derived by applying Lagrange’s equations and then the control law is design by using Lyapunov stability theorem and the loop shaping method. The proposed control scheme consists of a trajectory generator, a motion control law, and a steering control law. First, a real-time trajectory generator is designed based on the nonholonomic kinematic constraints of the robot, in which the reference driving speed and time rate of heading angle are computed in real time for a given desired trajectory of the robot. The proposed trajectory generator guarantees a local asymptotic stability. Next, motion and steering control laws are designed based on the dynamic model of the robot. The motion and steering control laws are used to control the robot speed and steering angle. The proposed control guarantees asymptotic stability of the trajectory control while keeping all internal signals bounded. Finally, the validity of the proposed control scheme is shown by realistic computer simulations with one sampling-time delay in the control loop.

On the Dynamics and Multiple Equilibria of an Inverted Flexible Pendulum With Tip Mass on a Cart

2014 ◽  
Vol 136 (4) ◽  
Author(s):  
Ojas Patil ◽  
Prasanna Gandhi
Keyword(s):  
Dynamic Model ◽  
Multiple Equilibria ◽  
Chaotic Behavior ◽  
Elastic Beam ◽  
Superior Performance ◽  
Flexible Link ◽  
Equilibrium Solutions ◽  
Lagrange Formulation ◽  
Compact Design ◽  
Tip Mass

Flexible link systems are increasingly becoming popular for advantages like superior performance in micro/nanopositioning, less weight, compact design, lower power requirements, and so on. The dynamics of distributed and lumped parameter flexible link systems, especially those in vertical planes are difficult to capture with ordinary differential equations (ODEs) and pose a challenge to control. A representative case, an inverted flexible pendulum with tip mass on a cart system, is considered in this paper. A dynamic model for this system from a control perspective is developed using an Euler Lagrange formulation. The major difference between the proposed method and several previous attempts is the use of length constraint, large deformations, and tip mass considered together. The proposed dynamic equations are demonstrated to display an odd number of multiple equilibria based on nondimensional quantity dependent on tip mass. Furthermore, the equilibrium solutions thus obtained are shown to compare fairly with static solutions obtained using elastica theory. The system is demonstrated to exhibit chaotic behavior similar to that previously observed for vibrating elastic beam without tip mass. Finally, the dynamic model is validated with experimental data for a couple of cases of beam excitation.

A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Simulation Study

2009 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Design Tool ◽  
Sliding Surface ◽  
Tracking Errors ◽  
New Approach ◽  
Overhead Cranes ◽  
Control Scheme ◽  
The Stability ◽  
Load Swing

This paper proposes a new approach for the anti-swing trajectory control of overhead cranes that allows simultaneous high-speed load hoisting. The objective of this study is to design an anti-swing trajectory control scheme that is robust to unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. First, a coupled sliding surface is defined based on the load-swing dynamics, and then the stability of the coupled sliding surface is shown to be equivalent to that of trolley tracking errors. Next, a robust anti-swing trajectory control scheme, minimizing the coupled sliding surface asymptotically to zero, is designed based on the trolley and load-hoisting dynamics. Finally, the proposed control is extended to an adaptive scheme. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the anti-swing trajectory control while keeping all internal signals bounded. The proposed control provides a practical solution for the robustness problem caused by the usual mechanical inaccuracies and installation errors in application. The proposed control also provides clear gain-tuning criteria for easy application. The validity of the theoretical results is shown by computer simulation.

Dynamic analysis and tracking trajectory control of a crane

2016 ◽  
Vol 231 (5) ◽  
pp. 1045-1052 ◽  
Author(s):  
Huang Kang ◽  
Sun Shunqiang ◽  
Zhen Shengchao ◽  
Ge Xinfang ◽  
Zhu Yongqi
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Control ◽  
Motion Trajectory ◽  
Matlab Simulation ◽  
Trajectory Tracking Control ◽  
System Trajectory ◽  
Simulation Results ◽  
Tracking Trajectory

This paper introduces a method to solve the crane motion trajectory control problem. A dynamic model is proposed based on the Udwadia–Kalaba equation, which can be solved without extra parameters, such as the Lagrange multiplier. The motion trajectory of a crane is used as a constraint (referred to as trajectory tracking constraint). To satisfy the system trajectory, a method to calculate the driving conditions on the basis of the above conditions is proposed. A 2D plane dynamic model of a crane is established. Five stages of crane movement are obtained. Simulation is performed with Matlab. Simulation results simulation show that the Udwadia–Kalaba equation can be well applied to trajectory tracking control of cranes.

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