Hybrid Control Scheme of Coordinated Motion and Active Vibration Suppression for Free-Floating Space Flexible Manipulator With Parameter Uncertainty

2009 ◽  
Author(s):  
Zhaobin Hong ◽  
Chen Li
Keyword(s):  
Parameter Uncertainty ◽  
Vibration Suppression ◽  
Controller Design ◽  
Hybrid Control ◽  
Flexible Manipulator ◽  
Control Force ◽  
Coordinated Motion ◽  
Flexible Mode ◽  
Control Scheme ◽  
Hybrid Control Scheme

The dynamic control and vibration suppression problems of free-floating space flexible manipulator are studied. The Variable Structure Control (VSC) law alone, which is designed to track the desired trajectories of base’s attitude and joint angles, does not guarantee the stability of the flexible mode dynamics of the flexible link. In order to actively suppress the flexible vibration, a hybrid trajectory for the VSC is generated using the virtual control force concept. Based on the hybrid trajectory, the hybrid control scheme is proposed to eliminate the flexible vibration while the robustness of VSC developed for coordinated motion is maintained. In particular, it doesn’t require measuring the position, velocity nor acceleration of the base in the controller design. Simulation result confirms that the proposed hybrid control scheme can dominates the trajectory tracking of coordinated motion and actively suppress the vibration in the presence of parameter uncertainty.

scholarly journals Optimized output-based input shaping for control of single-link flexible manipulator using linear matrix inequality

2020 ◽  
Vol 20 (1) ◽  
pp. 109
Author(s):  
Nura Musa Tahir ◽  
Mustapha Muhammad ◽  
Bashir Bala Muhammad ◽  
Haliru Liman ◽  
Aminu Yahaya Zimit ◽  
...  
Keyword(s):  
Linear Matrix Inequality ◽  
Hybrid Control ◽  
Flexible Manipulator ◽  
Linear Matrix ◽  
Response Analysis ◽  
Matrix Inequality ◽  
Loop Control ◽  
Control Scheme ◽  
Single Link ◽  
Hybrid Control Scheme

<span>Precise hub angle positioning due to tip deflections, flexible motions and under various payloads is enormous tasks in the control of single-link flexible manipulators. In this paper, output-based command shaping (OBCS) was designed using the system output for tip deflections and residuals vibrations suppression, and this was incorporated with a linear matrix inequality (LMI) closed-loop control scheme for precise hub angle positioning.  The robustness of the hybrid control scheme was tested by changing the payloads from 0g to 30g, and 50g. Simulation results showed that endpoint residuals vibrations and tip deflections due to flexible motions were suppressed and hence precise hub angle positioning under various payloads was achieved. Integral absolute error (IAE), Integral square error (ISE) and Time response analysis (TRA) were used as the performance indexes. Hence, the hybrid control scheme is simple and robust.</span>

Active Damping of a Large Flexible Manipulator With a Short-Reach Robot

1996 ◽  
Vol 118 (4) ◽  
pp. 704-713 ◽  
Author(s):  
I. Sharf
Keyword(s):  
Vibration Suppression ◽  
Controller Design ◽  
Reaction Force ◽  
Control Variable ◽  
Active Damping ◽  
Flexible Manipulator ◽  
Design Problems ◽  
Flexible Arm ◽  
Six Degree Of Freedom ◽  
Small Robot

This paper deals with manipulator systems comprising a long-reach manipulator (LRM) with a short-reach dextrous manipulator (SRM) attached to its end. The former, due to its size, is assumed to have significant structural flexibility, while the latter is modeled as a rigid robot. The particular problem addressed is that of active damping, or vibration suppression, of the LRM by using SRM specifically for that purpose Such a scenario is envisioned for operations where the large manipulator is used to deploy the small robot and it is necessary to damp out vibrations in LRM prior to operating SRM. The proposed solution to the problem uses the reaction force from SRM to LRM as a control variable which allows to effectively decouple the controller design problems for the two manipulators. A two-stage controller is presented that involves first, determining the trajectory of the short manipulator required to achieve a desired damping wrench to the supporting flexible arm and subsequently, brings the small manipulator to rest. Performance of the active damping algorithm developed is illustrated with a six-degree-of-freedom rigid manipulator on a flexible mast. Comparison to an independent derivative joint controller is included. The paper also discusses how the proposed methodology can be extended to address other issues related to operation of long-reach manipulator systems.

scholarly journals Electronic Differential and Neuro-Fuzzy Sliding Mode Control with Extended State Observer for an Electric Vehicle System

2018 ◽  
Vol 61 ◽  
pp. 00007
Author(s):  
Ibrahim Farouk Bouguenna ◽  
Ahmed Azaiz ◽  
Ahmed Tahour ◽  
Ahmed Larbaoui
Keyword(s):  
Sliding Mode Control ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Current Loop ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Neuro Fuzzy ◽  
Control Scheme ◽  
Fuzzy Sliding Mode ◽  
Hybrid Control Scheme

In this paper a neuro-fuzzy-sliding mode control (NFSMC) with extended state observer (ESO) technique; is designed to guarantee the traction of an electric vehicle with two distinct permanent magnet synchronous motor (PMSM). Each PMSM systems (source-convertermotor) are attached to an electronic differential (ED), in order to adjust the senses of direction of the vehicle, and sustain a stable speed by adapting the difference in velocity of each motor-wheel according to the direction in the case of a turn. Two types of controllers are employed by a hybrid control scheme to assure the control and the performance of the vehicle. This hybrid control scheme guarantees the stability of the vehicle by ED, reduces the chattering phenomena in the PMSM electric motor, and improves the disturbance rejection ability which employs tow types of controllers. The neuro-fuzzy sliding mode control on the direct current loop and ESO controller on the speed loop, and the quadratic current loop; taking into account the dynamic of the vehicle. Simulation runs under Matlab/Simulink to assess the efficiency, and strength of the recommended control method on the closed loop system.

scholarly journals Transient stability control by means of under-frequency load shedding and a hybrid control scheme

2017 ◽  
Vol 28 (4) ◽  
Author(s):  
P. F. Le Roux ◽  
R.C. Bansal
Keyword(s):  
Transient Stability ◽  
Hybrid Control ◽  
Stability Control ◽  
Load Shedding ◽  
Electrical Network ◽  
Traditional Methods ◽  
Transient Fault ◽  
System A ◽  
Control Scheme ◽  
Hybrid Control Scheme

An electrical network constantly faces unforeseen events such as faults on lines, loss of load and loss of generation. Under-frequency load shedding and generator tripping are traditional methods used to stabilise a network when a transient fault occurs. These methods will prevent any network instability by shedding load or tripping the most critical generator at a calculated time when required. By executing these methods, the network can be stabilised in terms of balancing the generation and the load of a power system. A hybrid control scheme is proposed where the traditional methods are combined to reduce the stress levels exerted on the network and to minimise the load to be shed.

Performance Enhancement of Pneumatic Vibration Isolators Using Self-Tuning PID Feedback and Time-Delay-Control (TDC)-Based Feedforward Scheme

2018 ◽  
Author(s):  
Jin-Wei Liang ◽  
Hung-Yi Chen ◽  
Lyu-Cyuan Zeng
Keyword(s):  
Mathematical Model ◽  
Performance Enhancement ◽  
Control Method ◽  
Hybrid Control ◽  
Model Performance ◽  
Experimental Investigations ◽  
Isolation System ◽  
Control Scheme ◽  
Self Tuning ◽  
Hybrid Control Scheme

A hybrid control scheme that combines a self-tuning PID-feedback loop and TDC-based feedforward scheme is proposed in this study to cope with an active pneumatic vibration isolator. In order to establish an effective TDC feedforward control a reliable mathematical model of the pneumatic isolator is required and developed firstly. Numerical and experimental investigations on the validity of the mathematical model are performed. It is found that although slight discrepancy exists between predicted and observed behaviors of the system, the overall model performance is acceptable. The resultant model is then applied in the design of the TDC feedforward scheme. A neuro-based adaptive PID control is integrated with the TDC feedforward algorithm to form the hybrid control. Numerical and experimental isolation tests are carried out to examine the suppression performances of the proposed hybrid control scheme. The results show that the proposed hybrid control method outperforms solely TDC feedforward while the latter outperforms the passive isolation system. Moreover, the proposed hybrid control scheme can suppress the vibration near the system’s resonance.

Hybrid Control Scheme for Anaerobic Digestion in a CSTR-UASB Reactor System

2020 ◽  
Vol 13 (3) ◽  
Author(s):  
Atthasit Tawai ◽  
Kanyarat Kitsubthawee ◽  
Chanin Panjapornpon ◽  
Weiming Shao
Keyword(s):  
Anaerobic Digestion ◽  
Hybrid Control ◽  
Reactor System ◽  
Uasb Reactor ◽  
Control Scheme ◽  
Hybrid Control Scheme
Sign in / Sign up

Export Citation Format

Share Document