Path Tracking Design by Fractional Prefilter Extension to Square MIMO Systems

2009 ◽  
Author(s):  
P. Melchior ◽  
C. Inarn ◽  
A. Oustaloup
Keyword(s):  
Mimo Systems ◽  
Path Tracking ◽  
Multivariable Systems ◽  
Frequency Bandwidth ◽  
Control Loop ◽  
Physical Constraints ◽  
Performance Specifications ◽  
Fractional Derivation ◽  
Synthesis Methodology ◽  
Robust Synthesis

The aim of this paper concerns motion control and robust path tracking. An approach based on fractional prefilter synthesis was already developed. It allows tracking optimization according to the fractional derivation order, the actuators physical constraints and the control loop frequency bandwidth. The purpose of this paper is the extension of this approach to multivariable systems. A non integer prefilter synthesis methodology for square MIMO systems (Multi-Input, Multi-Output) is presented. It is based on the MIMO-QFT robust synthesis methodology, taking into account of the plant uncertainties. MIMO-QFT robust synthesis methodology is based on multiple SISO (MISO systems) synthesis by considering the loop couplings. The SISO-QFT synthesis methodology can be then used for each SISO synthesis. Then the prefilters are synthesized. The prefilter parameter optimization is founded on the prefilter output error integral minimization, taking into account of the actuators physical constraints and the tracking performance specifications. An application example is given.

scholarly journals Compliant Human–Robot Collaboration with Accurate Path-Tracking Ability for a Robot Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 5914
Author(s):  
Daniel Reyes-Uquillas ◽  
Tesheng Hsiao
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Path Following ◽  
Path Tracking ◽  
Control Loop ◽  
Loop Control ◽  
Tracking Ability ◽  
The Difference ◽  
Human Robot Collaboration

In this article, we aim to achieve manual guidance of a robot manipulator to perform tasks that require strict path following and would benefit from collaboration with a human to guide the motion. The robot can be used as a tool to increase the accuracy of a human operator while remaining compliant with the human instructions. We propose a dual-loop control structure where the outer admittance control loop allows the robot to be compliant along a path considering the projection of the external force to the tangential-normal-binormal (TNB) frame associated with the path. The inner motion control loop is designed based on a modified sliding mode control (SMC) law. We evaluate the system behavior to forces applied from different directions to the end-effector of a 6-DOF industrial robot in a linear motion test. Next, a second test using a 3D path as a tracking task is conducted, where we specify three interaction types: free motion (FM), force-applied motion (FAM), and combined motion with virtual forces (CVF). Results show that the difference of root mean square error (RMSE) among the cases is less than 0.1 mm, which proves the feasibility of applying this method for various path-tracking applications in compliant human–robot collaboration.

Decentralized CRONE control of nonsquare multivariable systems in path-tracking design

2013 ◽  
Vol 76 (1) ◽  
pp. 447-457 ◽  
Author(s):  
Najah Yousfi ◽  
Pierre Melchior ◽  
Patrick Lanusse ◽  
Nabil Derbel ◽  
Alain Oustaloup
Keyword(s):  
Path Tracking ◽  
Multivariable Systems ◽  
Crone Control

Improved Internal Model Control-Proportional-Integral- Derivative Fractional-Order Multiloop Controller Design for Non Integer Order Multivariable Systems

2018 ◽  
Vol 141 (1) ◽  
Author(s):  
Tassadit Chekari ◽  
Rachid Mansouri ◽  
Maamar Bettayeb
Keyword(s):  
Fractional Order ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Mimo Systems ◽  
Design Method ◽  
Internal Model Control ◽  
Tuning Parameter ◽  
Multivariable Systems ◽  
Integer Order ◽  
Model Control

This paper is aimed to propose a multiloop control scheme for fractional order multi-input multi-output (FO-MIMO) systems. It is an extension of the FO-multiloop controller design method developed for integer order multivariable systems to FO-MIMO ones. The interactions among the control loops are considered as disturbances and a two degrees-of-freedom (2DOF) paradigm is used to deal with the process outputs performance and the interactions reduction effect, separately. The proposed controller design method is simple, in relation with the desired closed-loop specifications and a tuning parameter. It presents an interest in controlling complex MIMO systems since fractional order models (FO-models) represent some real processes better than integer order ones and high order systems can be approximated by FO-models. Two examples are considered and compared with other existing methods to evaluate the proposed controller.

scholarly journals Model predictive control of steering torque in shared driving of autonomous vehicles

2020 ◽  
Vol 103 (3) ◽  
pp. 003685042095013
Author(s):  
Chunjiang Bao ◽  
Jiwei Feng ◽  
Jian Wu ◽  
Shifu Liu ◽  
Guangfei Xu ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Tracking Control ◽  
Control Method ◽  
Path Tracking ◽  
Hardware In The Loop ◽  
Control Loop ◽  
Vehicle Model ◽  
Automatic Driving ◽  
Steering Torque

The current path tracking control method is usually based on the steering wheel angle loop, which often makes the driver lose control of the automatic driving control loop. In order to involve the driver in the automatic driving control loop, and to solve the vehicle path tracking control problem with system robustness and model uncertainty, this paper puts forward a steering torque control method based on model predictive control algorithm. Based on the vehicle model, this method introduces the steering system model and the steering resistance torque model, and calculates the optimal control torque of the vehicle through the real-time vehicle status, so as to make up for the model mismatch, interference and other uncertainties, and ensure the real-time participation of the driver in the automatic driving control loop. To combine the nonlinear vehicle dynamics model with the steering column model, and to take the vehicle state parameters as the feedback variables of the model predictive controller model, then input the solution of the steering superposition control rate into the vehicle model, the design of the steering controller is realized. Finally, to carry out the simulation of lane keeping based on CarSim software and Simulink control model, and the hardware in-the-loop test on the hardware in-the-loop experimental platform of CarSim/LabVIEW-RT. The simulation and test results indicate that the designed torque loop path tracking control method based on model predictive control can help the driver track the target path better.

Path tracking design based on Davidson–Cole prefilter using a centralized CRONE controller applied to multivariable systems

2012 ◽  
Vol 71 (4) ◽  
pp. 701-712 ◽  
Author(s):  
Najah Yousfi ◽  
Pierre Melchior ◽  
Chokri Rekik ◽  
Nabil Derbel ◽  
Alain Oustaloup
Keyword(s):  
Path Tracking ◽  
Multivariable Systems
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