Second-order Kinematics for Floating-base Robots using the Redundant Acceleration Feedback of an Artificial Sensory Skin

2020 ◽  
Author(s):  
Quentin Leboutet ◽  
J. Rogelio Guadarrama-Olvera ◽  
Florian Bergner ◽  
Gordon Cheng
Keyword(s):  
Second Order ◽  
Floating Base ◽  
Acceleration Feedback

scholarly journals Finite-Time Trajectory Tracking of Second-Order Systems Using Acceleration Feedback Only

Automation ◽  
2021 ◽  
Vol 2 (4) ◽  
pp. 266-277
Author(s):  
Romain Delpoux ◽  
Thierry Floquet ◽  
Hebertt Sira-Ramírez
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Algebraic Approach ◽  
Second Order ◽  
Asymptotic State ◽  
Control Input ◽  
Positioning Systems ◽  
Acceleration Feedback ◽  
On Line ◽  
Second Order Systems

In this paper, an algebraic approach for the finite-time feedback control problem is provided for second-order systems where only the second-order derivative of the controlled variable is measured. In practice, it means that the acceleration is the only variable that can be used for feedback purposes. This problem appears in many mechanical systems such as positioning systems and force-position controllers in robotic systems and aerospace applications. Based on an algebraic approach, an on-line algebraic estimator is developed in order to estimate in finite time the unmeasured position and velocity variables. The obtained expressions depend solely on iterated integrals of the measured acceleration output and of the control input. The approach is shown to be robust to noisy measurements and it has the advantage to provide on-line finite-time (or non-asymptotic) state estimations. Based on these estimations, a quasi-homogeneous second-order sliding mode tracking control law including estimated position error integrals is designed illustrating the possibilities of finite-time acceleration feedback via algebraic state estimation.

Active Control of a Rectangular Thin Plate Via Negative Acceleration Feedback

2016 ◽  
Vol 11 (4) ◽  
Author(s):  
H. S. Bauomy ◽  
A. T. EL-Sayed
Keyword(s):  
Differential Equations ◽  
Thin Plate ◽  
Nonlinear Differential Equations ◽  
Perturbation Technique ◽  
Approximate Solutions ◽  
Second Order ◽  
Multiple Time ◽  
Rectangular Thin Plate ◽  
Negative Acceleration ◽  
Acceleration Feedback

In this paper, the dynamic oscillation of a rectangular thin plate under parametric and external excitations is investigated and controlled. The motion of a rectangular thin plate is modeled by coupled second-order nonlinear ordinary differential equations. The formulas of the thin plate are derived from the von Kármán equation and Galerkin's method. A control law based on negative acceleration feedback is proposed for the system. The multiple time scale perturbation technique is applied to solve the nonlinear differential equations and obtain approximate solutions up to the second-order approximations. One of the worst resonance case of the system is the simultaneous primary resonances, where Ω1≅ω1 and  Ω2≅ω2. From the frequency response equations, the stability of the system is investigated according to the Routh–Hurwitz criterion. The effects of the different parameters are studied numerically. It is also shown that the system parameters have different effects on the nonlinear response of the thin plate. The simulation results are achieved using matlab 7.0 software. A comparison is made with the available published work.

Parametric Approach for Eigenstructure Assignment in Descriptor Second-Order Systems via Velocity-Plus-Acceleration Feedback

2014 ◽  
Vol 136 (4) ◽  
Author(s):  
Taha H. S. Abdelaziz
Keyword(s):  
Degrees Of Freedom ◽  
Sufficient Conditions ◽  
Second Order ◽  
Descriptor Systems ◽  
Practical Applications ◽  
Mass Matrices ◽  
Acceleration Feedback ◽  
Descriptor Matrix ◽  
Second Order Systems ◽  
Necessary And Sufficient

In this article, the problem of eigenstructure in descriptor matrix second-order linear systems using combined velocity and acceleration feedbacks is considered. This is promising for better applicability in many practical applications where the velocity and acceleration signals are easier to obtain than the proportional and velocity ones. First, the necessary and sufficient conditions which ensure solvability are derived. Then the parametric expressions of gain controller and eigenvector matrix are formulated. The proposed approach can offer all the degrees of freedom and has great potential in practical applications. The solution is general and can be applied when mass matrices that can be either singular or nonsingular. In this framework, infinite eigenvalues for descriptor systems are relocated by finite ones.

Eigenstructure Assignment by Displacement–Acceleration Feedback for Second-Order Systems

2016 ◽  
Vol 138 (6) ◽  
Author(s):  
Taha H. S. Abdelaziz
Keyword(s):  
Dynamic Response ◽  
Necessary Conditions ◽  
Second Order ◽  
New Technique ◽  
Eigenstructure Assignment ◽  
Mass Matrices ◽  
Acceleration Feedback ◽  
Simulation Results ◽  
A New Technique ◽  
Second Order Systems

Abstract This paper presents a new technique for controlling the dynamic response of second-order systems by means of combined displacement and acceleration feedback. The necessary conditions that guarantee the solvability for the problem are formulated. Parametric expressions for the displacement–acceleration gains and the eigenvector matrix are derived. The solution can be applied for the systems with nonsingular or singular mass matrices. Based on the simulation results, we can conclude that the proposed technique is effective.

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