A Digital Algorithm for Near-Minimum-Time Control of Robot Manipulators

1987 ◽  
Vol 109 (4) ◽  
pp. 320-327 ◽  
Author(s):  
C. K. Kao ◽  
A. Sinha ◽  
A. K. Mahalanabis
Keyword(s):  
Control Algorithm ◽  
State Feedback ◽  
Closed Loop ◽  
Robot Manipulator ◽  
Minimum Time ◽  
State Feedback Control ◽  
Final States ◽  
Closed Loop System ◽  
Time Control ◽  
Digital Algorithm

A digital state feedback control algorithm has been developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit near-minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm has been established using numerical simulations. A three-link manipulator is chosen for this purpose and the results are discussed for three different combinations of initial and final states.

scholarly journals StochasticH∞Control for Discrete-Time Singular Systems with State and Disturbance Dependent Noise

2017 ◽  
Vol 2017 ◽  
pp. 1-10
Author(s):  
Yong Zhao ◽  
Xiushan Jiang ◽  
Weihai Zhang
Keyword(s):  
Discrete Time ◽  
State Feedback ◽  
Closed Loop ◽  
Singular Systems ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Mean Square ◽  
Matrix Inequalities ◽  
Closed Loop System ◽  
Theoretical Results

This paper is concerned with the stochasticH∞state feedback control problem for a class of discrete-time singular systems with state and disturbance dependent noise. Two stochastic bounded real lemmas (SBRLs) are proposed via strict linear matrix inequalities (LMIs). Based on the obtained SBRLs, a state feedbackH∞controller is presented, which not only guarantees the resulting closed-loop system to be mean square admissible but also satisfies a prescribedH∞performance level. A numerical example is finally given to illustrate the effectiveness of the proposed theoretical results.

Stability and performance comparison analysis for linear active disturbance rejection control–based system

2022 ◽  
pp. 014233122110659
Author(s):  
Jia Song ◽  
Jiangcheng Su ◽  
Yunlong Hu ◽  
Mingfei Zhao ◽  
Ke Gao
Keyword(s):  
Disturbance Rejection ◽  
State Feedback ◽  
Closed Loop ◽  
Transfer Functions ◽  
State Feedback Control ◽  
Closed Loop System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Parameter Perturbations ◽  
And Performance

This paper investigates the stability and performance of the linear active disturbance rejection control (LADRC)–based system with uncertainties and external disturbance via transfer functions and a frequency-domain view. The performance of LADRC is compared with the state-observer-based state feedback control (SOSFC) and state feedback control (SFC). First, the transfer functions and the error transfer functions for LADRC, SOSFC, and SFC are studied using the state-space method. It is proven that the LADRC-, SOSFC-, and SFC-based closed-loop systems have the same transfer function from the reference input to the output and achieve the same control effects for the nominal system. Then, it is proven for the first time that the LADRC has a better anti-interference ability than the SOSFC and SFC. Besides, the asymptotic stability condition of LADRC-based closed-loop system considering large parameter perturbations is given first. Moreover, the sensitivity analysis of the closed-loop system is carried out. The results show that the LADRC has stronger robustness under parameter perturbations. According to the results, we conclude that the LADRC is of great disturbance rejection ability and strong robustness.

scholarly journals Stability and Stabilization of Networked Control System with Forward and Backward Random Time Delays

2012 ◽  
Vol 2012 ◽  
pp. 1-15 ◽  
Author(s):  
Ye-Guo Sun ◽  
Qing-Zheng Gao
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Networked Control Systems ◽  
Networked Control System ◽  
Loop System ◽  
State Feedback Control ◽  
Networked Control ◽  
Random Time ◽  
Closed Loop System ◽  
Stochastically Stable

This paper deals with the problem of stabilization for a class of networked control systems (NCSs) with random time delay via the state feedback control. Both sensor-to-controller and controller-to-actuator delays are modeled as Markov processes, and the resulting closed-loop system is modeled as a Markovian jump linear system (MJLS). Based on Lyapunov stability theorem combined with Razumikhin-based technique, a new delay-dependent stochastic stability criterion in terms of bilinear matrix inequalities (BMIs) for the system is derived. A state feedback controller that makes the closed-loop system stochastically stable is designed, which can be solved by the proposed algorithm. Simulations are included to demonstrate the theoretical result.

scholarly journals Internet Based Control System Design

2021 ◽  
Author(s):  
Yan Feng
Keyword(s):  
Control Strategy ◽  
High Performance ◽  
State Feedback ◽  
Closed Loop ◽  
State Feedback Control ◽  
Experimental Result ◽  
Closed Loop System ◽  
Local Computer ◽  
Remote Controller ◽  
Feedback Control Strategy

The thesis presents a novel Internet-based controller designed with the remote controller computer synchronizing its clock with the local computer. An observer-based state feedback control strategy is proposed to compensate the Internet delay and improve the system performance. Asymptotic stability of the closed-loop system is achieved without the assumption of reliable transmission from the controller computer to the local computer, which reduces the requirement for high performance Internet access. Computer simulations are conducted to evaluate the proposed control strategy, and the results have confirmed its effectiveness. The experimental result have demonstrated the supreme performance of the proposed control strategy.

scholarly journals Internet Based Control System Design

2021 ◽  
Author(s):  
Yan Feng
Keyword(s):  
Control Strategy ◽  
High Performance ◽  
State Feedback ◽  
Closed Loop ◽  
State Feedback Control ◽  
Experimental Result ◽  
Closed Loop System ◽  
Local Computer ◽  
Remote Controller ◽  
Feedback Control Strategy

The thesis presents a novel Internet-based controller designed with the remote controller computer synchronizing its clock with the local computer. An observer-based state feedback control strategy is proposed to compensate the Internet delay and improve the system performance. Asymptotic stability of the closed-loop system is achieved without the assumption of reliable transmission from the controller computer to the local computer, which reduces the requirement for high performance Internet access. Computer simulations are conducted to evaluate the proposed control strategy, and the results have confirmed its effectiveness. The experimental result have demonstrated the supreme performance of the proposed control strategy.

An LMI Approach to State Feedback H∞ Control for Switched Singular Linear Systems

2014 ◽  
Vol 875-877 ◽  
pp. 835-840
Author(s):  
Zhu Mu Fu ◽  
Bin Wang ◽  
Ai Yun Gao
Keyword(s):  
Linear Systems ◽  
State Feedback ◽  
Closed Loop ◽  
Feedback Stabilization ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
Lmi Approach ◽  
Singular Linear Systems

In this paper, the problems of state feedback control for a class of switched singular linear systems are investigated. By constructing a novel switched Lyapunov functional and convex combinations techniques, a sufficient condition established in terms of strict linear matrix inequalities (LMIs) is presented such that the system is asymptotically stable and satisfies performance. An explicit expression for the state feedback stabilization sub-controller and switching rule are designed. The merits of the proposed criteria lie in their less conservativeness and relative simplicity, in which the closed-loop system satisfies performance at each point in whole state-space through switching, although each sub-system doesn’t satisfy the performance and even is not asymptotically stable. A numerical example is provided to illustrate the validity of the proposed methods.

scholarly journals State Feedback Control for Stochastic Feedforward Nonlinear Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-6
Author(s):  
Liang Liu ◽  
Ming Gao
Keyword(s):  
Nonlinear Systems ◽  
State Feedback ◽  
Closed Loop ◽  
Feedback Stabilization ◽  
State Feedback Control ◽  
Asymptotically Stable ◽  
Stabilization Problem ◽  
Closed Loop System ◽  
Globally Asymptotically Stable ◽  
Feedforward Nonlinear Systems

This paper considers the state feedback stabilization problem for a class of stochastic feedforward nonlinear systems. By using the homogeneous domination approach, a state feedback controller is constructed to render the closed-loop system globally asymptotically stable in probability. A simulation example is provided to show the effectiveness of the designed controller.

scholarly journals A Time-Varying Gain Design Method for State Feedback Control of Upper Triangular Nonlinear Systems

2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Yanmin Yin
Keyword(s):  
Feedback Control ◽  
Nonlinear Systems ◽  
State Feedback ◽  
Closed Loop ◽  
Nonlinear Term ◽  
Design Method ◽  
State Feedback Control ◽  
Time Varying ◽  
Closed Loop System ◽  
Incremental Rate

In this paper, a time-varying gain design method is used to investigate the state feedback control problem of upper triangular nonlinear systems. Firstly, the nonlinear term recognizes an incremental rate relying on the unknown constant and the function with respect to time. Then, a time-varying gain design method is utilized to construct a state feedback controller. With the help of a suitable coordinate transformation and a Lyapunov function, one obtains that all the signals of the closed-loop system converge to zero. Finally, two numerical examples are presented to display the effectiveness of the time-varying gain design method.

The Swing Control of Cranes with Variable Rope Length Based on Linear Time Varying System Theory

2012 ◽  
Vol 461 ◽  
pp. 763-767
Author(s):  
Li Fu Wang ◽  
Zhi Kong ◽  
Xin Gang Wang ◽  
Zhao Xia Wu
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Linear Time ◽  
Feedback Stabilization ◽  
Time Varying ◽  
Closed Loop System ◽  
Overhead Cranes ◽  
Time Varying Systems ◽  
Time Invariant ◽  
Time Invariant System

In this paper, following the state-feedback stabilization for time-varying systems proposed by Wolovich, a controller is designed for the overhead cranes with a linearized parameter-varying model. The resulting closed-loop system is equivalent, via a Lyapunov transformation, to a stable time-invariant system of assigned eigenvalues. The simulation results show the validity of this method.

scholarly journals Numerical evaluation of sine-Gordon chain energy control via subdomains state feedback under quantizationand time sampling

2019 ◽  
pp. 18-28
Author(s):  
Boris Andrievsky ◽  
Yury Orlov
Keyword(s):  
State Feedback ◽  
Communication Channel ◽  
Closed Loop ◽  
Signal Transmission ◽  
Control Signal ◽  
Time Sampling ◽  
Signal Quantization ◽  
First Order ◽  
Time Control ◽  
Level Quantization

The paper is devoted to the numerical performance evaluation of the speed-gradient algorithms, recently developed in (Orlov et al., 2018; Orlov et al., 2019) for controlling the energy of the sine-Gordon spatially distributed systems with several in-domain actuators. The influence of the level quantization of the state feedback control signal (possibly coupled to the time sampling) on the steady-state energy error and the closed loop system stability is investigated in the simulation study. The following types of quantization are taken into account: sampling-in-time control signal quantization, the level quantization for control, continuous in time; control signal quantization on level jointly with time sampling; control signal transmission over the binary communication channel with time-invariant first order coder; control signal transmission over the binary communication channel with first order coder and time-based zooming; control signal transmission over the binary communication channel with adaptive first order coder. A resulting impact on the closed-loop performance in question is concluded for each type of the quantization involved.

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