Adaptive control strategies for rigid robots to reduce harmonic content of driving torque and compensate coulomb friction

2002 ◽  
Author(s):  
F. Alonge ◽  
T. Raimondi ◽  
F. D'Ippolito
Keyword(s):  
Adaptive Control ◽  
Coulomb Friction ◽  
Control Strategies ◽  
Harmonic Content ◽  
Driving Torque

Identification of Coulomb Friction in Robot Drives and Other Mechanical Systems Through Observation of Third Harmonic Generation

1994 ◽  
Vol 208 (5) ◽  
pp. 329-336 ◽  
Author(s):  
D J Brookfield
Keyword(s):  
Coulomb Friction ◽  
Robot Control ◽  
Control Strategies ◽  
Harmonic Component ◽  
Experimental Tests ◽  
Third Harmonic ◽  
The Third ◽  
Drive Systems ◽  
Driving Torque ◽  
Frictional Behaviour

One of the main difficulties in introducing improved robot control strategies is a lack of knowledge of the frictional behaviour of robot drive systems. The aim of the present paper is to describe a technique for the identification of Coulomb friction based on the response of the robot drive to a sinusoidal driving torque The presence of a third harmonic component in the resulting velocity is a consequence of the Coulomb non-linearity and it is shown theoretically, through computer simulation and in experimental tests, that the coefficient of Coulomb friction can be estimated from the amplitude of the third harmonic component. The identification method is shown to be applicable to any mechanical system that can be subjected to a sinusoidal forcing torque or force.

Adaptive control strategies for process control: A survey

AIChE Journal ◽  
1986 ◽  
Vol 32 (6) ◽  
pp. 881-913 ◽  
Author(s):  
D. E. Seborg ◽  
T. F. Edgar ◽  
S. L. Shah
Keyword(s):  
Adaptive Control ◽  
Process Control ◽  
Control Strategies

Direct adaptive algorithm for seismic control of damaged structures with faulty sensors

2017 ◽  
Vol 24 (24) ◽  
pp. 5854-5866 ◽  
Author(s):  
Amin Hosseini ◽  
Touraj Taghikhany ◽  
Arash Yeganeh Fallah
Keyword(s):  
Adaptive Control ◽  
Seismic Response ◽  
Structural Damage ◽  
Control Method ◽  
Control Strategies ◽  
Magnetorheological Damper ◽  
Main Concern ◽  
Building Structures ◽  
Steel Moment Resisting Frames ◽  
Seismic Control

In recent decades, the application of semi-active control strategies has gained much attention as a way to reduce the seismic response of civil infrastructures. However, uncertainty in the modeling process of systems with possible partial or total failure during an earthquake is the main concern of engineers about the reliability of this strategy. In this regard, adaptive control algorithms are known as an effective solution to adjust control parameters with different uncertainties. In the current study, the efficiency of the simple adaptive control method (SACM) is investigated to control the seismic response of building structures in the presence of unknown structural damage and fault in the sensors. The method is evaluated in 20-story steel moment resisting frames with different arrangement of smart dampers and sensors with various damage and fault scenarios. The results show that the SACM control system can effectively reduce the maximum inter-story drift of the structure in all different assumed magnetorheological damper arrangements. Furthermore, combination of a Kalman–Bucy filter with the SACM improves robustness of the controller to the uncertainties of sensors faults and damages of structural elements.

Design of a Disturbance Accommodating Adaptive Control System and Its Application to a DC-Servo Motor System With Coulomb Friction

1988 ◽  
Vol 110 (4) ◽  
pp. 343-349 ◽  
Author(s):  
P. N. Nikiforuk ◽  
K. Tamura
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Coulomb Friction ◽  
Motor System ◽  
Position Control ◽  
Adaptive Controller ◽  
Analog Computer ◽  
Adaptive Control System ◽  
Servo Motor ◽  
Analytical Functions

This paper discusses the design of a model reference type of adaptive control system for a linear unknown plant with system and observation disturbances. The disturbances are assumed to be approximately expressed by step, sinusoidal, and other analytical functions. The design of a controller, called a disturbance accommodating adaptive controller (DAAC), which eliminates the effect of these disturbances at the plant output, is described. Two types of bias DAAC are given as examples and are applied to the adaptive control of a DC-servo motor system. The plant (the DC-servo system) consists of two unknown loads connected through an electrical clutch and Coulomb friction. The effect of the friction on the plant is considered as an unknown bias disturbance and the DAAC is implemented on an analog computer. Experimental results for the position control of the DAAC system are given.

scholarly journals Multiple input control strategies for robust and adaptive climate engineering in a low-order 3-box model

2018 ◽  
Vol 474 (2217) ◽  
pp. 20180447 ◽  
Author(s):  
F. Bonetti ◽  
C. McInnes
Keyword(s):  
Adaptive Control ◽  
Radiative Forcing ◽  
Climate Model ◽  
Control Strategies ◽  
Adaptive Controller ◽  
Multivariable Control ◽  
Balance Model ◽  
Solar Radiation Management ◽  
Climate Engineering ◽  
Low Order

A low-order 3-box energy balance model for the climate system is employed with a multivariable control scheme for the evaluation of new robust and adaptive climate engineering strategies using solar radiation management. The climate engineering measures are deployed in three boxes thus representing northern, southern and central bands. It is shown that, through heat transport between the boxes, it is possible to effect a degree of latitudinal control through the reduction of insolation. The approach employed consists of a closed-loop system with an adaptive controller, where the required control intervention is estimated under the RCP 4.5 radiative scenario. Through the online estimation of the controller parameters, adaptive control can overcome key issues related to uncertainties of the climate model, the external radiative forcing and the dynamics of the actuator used. In fact, the use of adaptive control offers a robust means of dealing with unforeseeable abrupt perturbations, as well as the parametrization of the model considered, to counteract the RCP 4.5 scenario, while still providing bounds on stability and control performance. Moreover, applying multivariable control theory also allows the formal controllability and observability of the system to be investigated in order to identify all feasible control strategies.

scholarly journals Robust adaptive synchronization of complex network with bounded disturbances

2019 ◽  
Vol 2019 (1) ◽  
Author(s):  
Chengjie Xu ◽  
Housheng Su ◽  
Chen Liu ◽  
Guohua Zhang
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Control Strategies ◽  
Variable Structure ◽  
Adaptive Synchronization ◽  
Leader Following ◽  
Bounded Disturbances ◽  
Robust Adaptive ◽  
Robust Adaptive Synchronization ◽  
Synchronization Protocol

AbstractIn this paper, we investigate distributed robust adaptive synchronization for complex networked systems with bounded disturbances. We propose both average synchronization protocol and leader-following synchronization protocol based on adaptive control and variable structure control strategies. The synchronization conditions do not require any global information except a connection assumption under the adaptive control method. Furthermore, the external disturbances are attenuated effectively. Finally, we present numerical simulations to illustrate the theoretical findings.

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