A cooperative control method for a mobile manipulator using the difference the manipulation with a robot control device

2019 ◽  
Author(s):  
Yuta Naito ◽  
Nobuto Matsuhira
Keyword(s):  
Cooperative Control ◽  
Robot Control ◽  
Control Method ◽  
Control Device ◽  
Mobile Manipulator ◽  
The Difference

scholarly journals Cooperative Control Method of Active and Semiactive Control: New Framework for Vibration Control

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Kazuhiko Hiramoto
Keyword(s):  
Vibration Control ◽  
Active Control ◽  
Cooperative Control ◽  
Control Method ◽  
Design Method ◽  
Control Object ◽  
Control Device ◽  
Semiactive Control ◽  
Control Input ◽  
Control Approach

A new control design framework for vibration control, the cooperative control of active and semiactive control, is proposed in the paper. In the cooperative control, a structural system having both of an actuator and a semiactive control device, for example, MR damper and so forth, is defined as the control object. In the proposed control approach, the higher control performance is aimed by the cooperative control between the active control with the actuator and the semiactive control with the semiactive control device. A design method to determine the active control input and the command signal to drive the semiactive control device based on the one-step prediction of the control output is proposed. A simulation example of a control system design for a benchmark building is presented to show the effectiveness of the proposed control framework.

2P1-H14 A Robot Control Method Integrating 'Kukanchi' : Door Closing Task Experiments with Mobile Manipulator

2008 ◽  
Vol 2008 (0) ◽  
pp. _2P1-H14_1-_2P1-H14_4 ◽  
Author(s):  
Takeshi UJIIE ◽  
Takeshi SAKAGUCHI ◽  
Kazuhito YOKOI ◽  
Kazuyoshi WADA ◽  
Takayuki SUGAWARA ◽  
...  
Keyword(s):  
Robot Control ◽  
Control Method ◽  
Mobile Manipulator

An Adaptive Cooperative Control Method for Nonlinear System Based on Directed Graph

2013 ◽  
Vol 328 ◽  
pp. 67-71
Author(s):  
Zhao Ming Li ◽  
Yong Ming Gao ◽  
Ya Feng Niu
Keyword(s):  
Nonlinear System ◽  
Directed Graph ◽  
Cooperative Control ◽  
Control Method ◽  
Actual State ◽  
Control Law ◽  
Degree Of Control ◽  
The Difference ◽  
High Degree ◽  
Control Accuracy

In consideration of the disturbance influence, the system always has nonlinear terms. This paper proposes an adaptive autonomous cooperative control method for a class of nonlinear system based on the directed graph. The directed graph is used to describe the topology relationship among individuals in the system. The difference between desired and actual value of the system state is defined as error, by exchanging error information among individuals, and online-updating the nonlinear terms, all individual states are synchronized up to the desired value. The differential of the actual state is not needed, which reduces the requirements for relative measurment between individuals efficiently. Finally, the numerical simulation results show the correctness of the control law, and by configuring the control parameters reasonably, we can achieve high degree of control accuracy.

Autonomous Cooperative Control for a Class of Linear System Based on Directed Graph

2013 ◽  
Vol 710 ◽  
pp. 558-562
Author(s):  
Zhao Ming Li ◽  
Ya Feng Niu ◽  
Yong Ming Gao
Keyword(s):  
Linear System ◽  
Directed Graph ◽  
Cooperative Control ◽  
Control Algorithm ◽  
Control Method ◽  
Control Law ◽  
Degree Of Control ◽  
The Difference ◽  
High Degree ◽  
Control Accuracy

This paper proposes an autonomous cooperative control method for a class of linear system based on the directed graph, and the proof is given. The directed graph is used to describe the topology relationship among individuals in the system. The difference between desired and actual value of the system state is defined as error, and by exchanging error information among individuals, all individual states are synchronized up to the desired value. The control algorithm proposed in this paper has high robustness. Finally, the numerical simulation results show the correctness of the control law, and by configuring the control parameters reasonably, we can achieve high degree of control accuracy.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

Active Noise Control Using Phase-Compensated, Damped Resonant Filters

2005 ◽  
Vol 128 (2) ◽  
pp. 148-155 ◽  
Author(s):  
Jesse B. Bisnette ◽  
Adam K. Smith ◽  
Jeffrey S. Vipperman ◽  
Daniel D. Budny
Keyword(s):  
Noise Control ◽  
Control Method ◽  
Active Noise Control ◽  
Control Device ◽  
Modal Control ◽  
Pass Filter ◽  
Acoustic Transducers ◽  
Active Noise ◽  
The Impact ◽  
Resonant Filters

An active noise control device called active noise absorber or ANA, which is based upon damped, resonant filters is developed and demonstrated. It is similar to structural positive position feedback (PPF) control, with two exceptions: (1) Acoustic transducers (microphone and speaker) cannot be truly collocated, and (2) the acoustic actuator (loudspeaker) has significant dynamics. The speaker dynamics can affect performance and stability and must be compensated. While acoustic modal control approaches are typically not sought, there are a number of applications where controlling a few room modes is adequate. A model of a duct with speakers at each end is developed and used to demonstrate the control method, including the impact of the speaker dynamics. An all-pass filter is used to provide phase compensation and improve controller performance and permits the control of nonminimum phase plants. A companion experimental study validated the simulation results and demonstrated nearly 8 dB of control in the first duct mode. A multi-modal control example was also demonstrated producing an average of 3 dB of control in the first four duct modes.

scholarly journals A Two-Stage Quality Control Method for 2-m Temperature Observations Using Biweight Means and a Progressive EOF Analysis

2013 ◽  
Vol 141 (2) ◽  
pp. 798-808 ◽  
Author(s):  
Zhifang Xu ◽  
Yi Wang ◽  
Guangzhou Fan
Keyword(s):  
Quality Control ◽  
Control Method ◽  
Control Process ◽  
Lapse Rate ◽  
Systematic Bias ◽  
Eof Analysis ◽  
Two Stage ◽  
Quality Control Method ◽  
Quality Control Process ◽  
The Difference

Abstract The relatively smooth terrain embedded in the numerical model creates an elevation difference against the actual terrain, which in turn makes the quality control of 2-m temperature difficult when forecast or analysis fields are utilized in the process. In this paper, a two-stage quality control method is proposed to address the quality control of 2-m temperature, using biweight means and a progressive EOF analysis. The study is made to improve the quality control of the observed 2-m temperature collected by China and its neighboring areas, based on the 6-h T639 analysis from December 2009 to February 2010. Results show that the proposed two-stage quality control method can secure the needed quality control better, compared with a regular EOF quality control process. The new method is, in particular, able to remove the data that are dotted with consecutive errors but showing small fluctuations. Meanwhile, compared with the lapse rate of temperature method, the biweight mean method is able to remove the systematic bias generated by the model. It turns out that such methods make the distributions of observation increments (the difference between observation and background) more Gaussian-like, which ensures the data quality after the quality control.

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