Region-Reaching Control of a Flexible-Joint Manipulator

2020 ◽  
Vol 142 (11) ◽  
Author(s):  
J. W. Yu ◽  
X. H. Zhang ◽  
J. C. Ji ◽  
J. Y. Tian ◽  
J. Zhou
Keyword(s):  
Control Problem ◽  
Tracking Control ◽  
Control Algorithm ◽  
Objective Functions ◽  
Flexible Joint ◽  
Point Tracking ◽  
Control Scheme ◽  
Lyapunov Stability Analysis ◽  
Flexible Joint Manipulator ◽  
Theoretical Results

Abstract This paper addresses the region-reaching control problem for a flexible-joint robotic manipulator which is formulated by Lagrangian dynamics. An adaptive control scheme is proposed for the manipulator system having two constrained regions which are constructed by selecting appropriate objective functions. The two joints of the flexible-joint manipulator can be, respectively, confined in different regions, and this gives more flexibility than the traditional fixed-point tracking control. By performing a straightforward Lyapunov stability analysis, a simple control algorithm is established to provide a solution for the region-reaching control problem. Finally, numerical simulations are given to validate the theoretical results.

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

Practical Tracking Control of a Class of Uncertain Surface Vessels Under Weak Assumptions on Uncertainties and Reference Trajectories

2021 ◽  
Author(s):  
Jian Li ◽  
Wenqing Xu ◽  
Zhaojing Wu ◽  
Yungang Liu
Keyword(s):  
Tracking Control ◽  
Broad Class ◽  
Tracking Error ◽  
Reference Trajectory ◽  
Unknown Parameters ◽  
Related Literature ◽  
Surface Vessels ◽  
Control Scheme ◽  
Reference Trajectories ◽  
Theoretical Results

Abstract This paper is devoted to the tracking control of a class of uncertain surface vessels. The main contributions focus on the considerable relaxation of the severe restrictions on system uncertainties and reference trajectory in the related literature. Specifically, all the system parameters are unknown and the disturbance is not necessarily to be differentiable in the paper, but either unknown parameters or disturbance is considered but the other one is excluded in the related literature, or both of them are considered but the disturbance must be continuously differentiable. Moreover, the reference trajectories in the related literature must be at least twice continuously differentiable and themselves as well as their time derivatives must be known for feedback, which are generalized to a more broad class ones that are unknown and only one time continuously differentiable in the paper. To solve the control problem, a novel practical tracking control scheme is presented by using backstepping scheme and adaptive technique, and in turn to derive an adaptive state-feedback controller which guarantees that all the states of the resulting closed-loop system are bounded while the tracking error arrives at and then stay within an arbitrary neighborhood of the origin. Finally, simulation is provided to validate the effectiveness of the proposed theoretical results.

Multi-Level Phase Shift (MLPS) Control Enabled Variable Displacement Gerotor/Geroler

2007 ◽  
Author(s):  
QingHui Yuan ◽  
Brian Armstrong
Keyword(s):  
Phase Shift ◽  
Tracking Control ◽  
Control Algorithm ◽  
Control Law ◽  
Family Selection ◽  
Control Scheme ◽  
Variable Displacement ◽  
Multi Level ◽  
Velocity Tracking ◽  
Peak Value

The research focuses on enabling gerotor/geroler, a traditional fixed displacement device, with the variable displacement capability by integrating electronically controlled digital valves and the corresponding control algorithm. Each digital valve controls polarity of each corresponding chamber of the fixed displacement device. A novel Multi-Level Phase Shift (MLPS) control scheme is developed such that the instantaneous displacement of such a system can be controlled. This control law is characteristic of classifying all the possible valve configuration into several displacement families where the peak value within each family would be identical. Given a desired displacement, both displacement family selection and phase shift technology are utilized to achieve better performance. In the experimental study, MLPS control has been verified, and successfully achieves a closed loop velocity tracking control of a hydraulic geroler motor.

Operational Space Prescribed Tracking Performance and Compliance in Flexible Joint Robots

2015 ◽  
Vol 137 (7) ◽  
Author(s):  
Abdelrahem Atawnih ◽  
Zoe Doulgeri ◽  
George A. Rovithakis
Keyword(s):  
Degrees Of Freedom ◽  
Position Tracking ◽  
Admittance Control ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Operational Space ◽  
Control Scheme ◽  
Simulation Results ◽  
Flexible Joint Manipulator ◽  
Three Degrees Of Freedom

In this work, an admittance control scheme is proposed utilizing a highly robust prescribed performance position tracking controller for flexible joint robots which is designed at the operational space. The proposed control scheme achieves the desired impedance to the external contact force as well as superior position tracking in free motion without any robot model knowledge, as opposed to the torque based impedance controllers. Comparative simulation results on a three degrees-of-freedom (3DOF) flexible joint manipulator, illustrate the efficiency of the approach.

Design and Validation of Demanded Power Point Tracking Control Algorithm of Wind Turbine

2018 ◽  
Vol 5 (3) ◽  
pp. 387-400 ◽  
Author(s):  
Kwansu Kim ◽  
Hyun-Gyu Kim ◽  
Cheol-jin Kim ◽  
Insu Paek ◽  
Carlo L. Bottasso ◽  
...  
Keyword(s):  
Wind Turbine ◽  
Tracking Control ◽  
Control Algorithm ◽  
Point Tracking ◽  
Power Point Tracking ◽  
Power Point
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