Parameters self-adjusting fuzzy PI control with repetitive control algorithms for 50Hz on-line UPS controlled by DSP

2005 ◽  
Author(s):  
Luo Ling ◽  
Zhou Yong-peng ◽  
Xu Jin-bang ◽  
Wan Shu-yun
Keyword(s):  
Repetitive Control ◽  
Control Algorithms ◽  
Pi Control ◽  
On Line

Comparison of Damped Velocity and Acceleration Control for Non-Redundant Manipulators

2000 ◽  
Author(s):  
Yu-Che Chen ◽  
Kevin A. O’Neil
Keyword(s):  
Path Tracking ◽  
Least Square ◽  
Dynamics Simulation ◽  
Control Algorithms ◽  
Redundant Manipulators ◽  
Velocity Control ◽  
Redundant Manipulator ◽  
Singular Configurations ◽  
On Line ◽  
Simulation Results

Abstract Damped Least Square (DLS) method has been widely used as an on-line algorithm for manipulator path tracking near and at singular configurations. Wampler (1986) formulated the framework of DLS method applied to velocity control and addressed the applicability of DLS method to acceleration control. The purpose of this paper is to demonstrate the differences in the joint paths generated by damped velocity and damped acceleration control algorithms in non-redundant manipulators. We examine these joint paths, find the cause of the differences, and demonstrate the features of damped acceleration control in non-redundant manipulator dynamics. Simulation results on a planar 2R and a spatial 6R manipulator moving through and near singular configurations verify the phenomena analyzed.

scholarly journals Verification hybrid control of a wheeled mobile robot and manipulator

2016 ◽  
Vol 6 (1) ◽  
Author(s):  
Magdalena Muszynska ◽  
Andrzej Burghardt ◽  
Krzysztof Kurc ◽  
Dariusz Szybicki
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Fuzzy Systems ◽  
Hybrid Control ◽  
Work Conditions ◽  
Control Algorithms ◽  
Control Task ◽  
Wheeled Mobile Robots ◽  
Controlled Systems ◽  
On Line

Abstract In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system’s nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

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