Design of a PD Position Control based on the Lyapunov Theory for a Robot Manipulator Flexible-Link

2006 ◽  
Author(s):  
C. Murrugarra ◽  
J. Grieco ◽  
G. Fernandez
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Lyapunov Theory ◽  
Flexible Link

Design of Robust Controller for 2-DOF Flexible Link Robot Manipulator

2021 ◽  
Author(s):  
Renukadas Pimpalgaonkar ◽  
Prathamesh Khare ◽  
Anagha Chikhalthankar ◽  
Sandeep Hanwate ◽  
M. D. Jaybhaye
Keyword(s):  
Robot Manipulator ◽  
Flexible Link ◽  
Robust Controller

scholarly journals Position Control of a Planar Single-Link Flexible-Link Manipulator Based on Enhanced Dynamic Coupling Model

2020 ◽  
Vol 53 (2) ◽  
pp. 7777-7782
Author(s):  
Qingxin Meng ◽  
Jundong Wu ◽  
Ze Yan ◽  
Chun-Yi Su
Keyword(s):  
Position Control ◽  
Coupling Model ◽  
Flexible Link ◽  
Dynamic Coupling ◽  
Single Link ◽  
Dynamic Coupling Model

Tip position control of a flexible-link arm

2006 ◽  
Author(s):  
A. Arisoy ◽  
M. Gokasan ◽  
O.S. Bogosyan
Keyword(s):  
Position Control ◽  
Flexible Link ◽  
Tip Position

scholarly journals Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping

2015 ◽  
Vol 4 (3) ◽  
pp. 209
Author(s):  
Chuan Lian Zhang ◽  
Kil To Chong
Keyword(s):  
Attitude Control ◽  
Position Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Law ◽  
Dynamics Modeling ◽  
Hybrid Controller ◽  
Navigation Simulation ◽  
Waypoint Navigation ◽  
Nonlinear Hybrid

<span>In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.</span>

scholarly journals New time delay estimation-based virtual decomposition control for n-DoF robot manipulator

2021 ◽  
Vol 10 (3) ◽  
pp. 192
Author(s):  
Hachmia Faqihi ◽  
Khalid Benjelloun ◽  
Maarouf Saad ◽  
Mohammed Benbrahim ◽  
M. Nabil Kabbaj
Keyword(s):  
Time Delay ◽  
Dynamic Model ◽  
Control Strategy ◽  
Robot Manipulator ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Degree Of Freedom ◽  
Delay Estimation ◽  
The Stability

<p>One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.</p>

scholarly journals Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6124
Author(s):  
Lixin Wang ◽  
Dingxuan Zhao ◽  
Fucai Liu ◽  
Qian Liu ◽  
Zhuxin Zhang
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Dead Zone ◽  
Lyapunov Theory ◽  
Least Square ◽  
Synchronization Control ◽  
Hydraulic Actuator ◽  
Dead Zones ◽  
Hydraulic Actuators ◽  
Active Disturbance Rejection

In this paper, an integrated control strategy of position synchronization control for dual-electro-hydraulic actuators with unknown dead-zones is proposed. The unified control scheme consists of two parts: One is adaptive dead-zone inverse controllers of each hydraulic actuator to offset the unknown dead-zones. The other is the linear active disturbance rejection controller (LADRC) for position synchronization error. First, the model of the electro-hydraulic proportional position control system (EPPS) was identified by the forgetting factor recursive least square (FFRLS) algorithm. Next, the model reference dead-zone inverse adaptive controller (MRDIAC) was developed to compensate for the delay of actuator response caused by unknown proportional valve dead-zones. Meanwhile, the validity of the adaptive law was proven by the Lyapunov theory. Therefore, the position control accuracy of each hydraulic actuator is guaranteed. Besides, to improve the precision of position synchronization control of dual-hydraulic actuators, a simple and elegant synchronous error-based LADRC was adopted, which applies the total disturbances design concept to eliminate and compensate for motion coupling rather than cross-coupling technology. The performance of the proposed control solution was investigated through extensive comparative experiments based on a hydraulic test platform. The experimental results successfully demonstrate the effectiveness and practicality of the proposed method.

Nonlinear Position Control of a Very Flexible Parallel Robot Manipulator

2019 ◽  
pp. 155-162
Author(s):  
Peter Eberhard ◽  
Fatemeh Ansarieshlaghi
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Parallel Robot
Sign in / Sign up

Export Citation Format

Share Document