Nonlinear Bifurcation Analysis of a Robotic Arm Subject to Digital Position Control

2011 ◽  
Author(s):  
Giuseppe Habib ◽  
Giuseppe Rega ◽  
Gabor Stepan
Keyword(s):  
Center Manifold ◽  
Position Control ◽  
High Accuracy ◽  
Industrial Applications ◽  
Critical Parameters ◽  
Robotic Arm ◽  
Control Force ◽  
Local Center ◽  
The Stability ◽  
Stability Limits

Precision and stability in position control of robots are critical parameters in many industrial applications where high accuracy is needed. It is well known that digital effect is destabilizing and can cause instabilities. In this paper, we analyze a single DoF system and we present the stability limits in the parameter space of the control gains. Furthermore we introduce a nonlinearity relative to the saturation of the control force in the model, reduce the dynamics of the nonlinear map to its local center manifold, study the bifurcation along the stability border and identify conditions under which a supercritical or subcritical bifurcation occurs. The obtained results explain some of the typical instabilities occurring in industrial applications. We verify the obtained results through numerical simulations.

Nonlinear Bifurcation Analysis of a Single-DoF Model of a Robotic Arm Subject to Digital Position Control

2012 ◽  
Vol 8 (1) ◽  
Author(s):  
Giuseppe Habib ◽  
Giuseppe Rega ◽  
Gabor Stepan
Keyword(s):  
Center Manifold ◽  
Position Control ◽  
High Accuracy ◽  
Industrial Applications ◽  
Critical Parameters ◽  
Robotic Arm ◽  
Control Force ◽  
Local Center ◽  
The Stability ◽  
Stability Limits

Precision and stability in position control of robots are critical parameters in many industrial applications where high accuracy is needed. It is well known that digital effect is destabilizing and can cause instabilities. In this paper, we analyze a single DoF model of a robotic arm and we present the stability limits in the parameter space of the control gains. Furthermore we introduce a nonlinearity relative to the saturation of the control force in the model, reduce the dynamics of the nonlinear map to its local center manifold, study the bifurcation along the stability border and identify conditions under which a supercritical or subcritical bifurcation occurs. The obtained results explain some of the typical instabilities occurring in industrial applications. We verify the obtained results through numerical simulations.

Bifurcation Analysis of a Two-DoF System Subject to Digital Position Control

2012 ◽  
Author(s):  
Giuseppe Habib ◽  
Giuseppe Rega ◽  
Gabor Stépán
Keyword(s):  
Numerical Simulations ◽  
Bifurcation Analysis ◽  
Position Control ◽  
Control Force ◽  
Piecewise Constant ◽  
The Stability

This paper analyzes the stability of a two-DoF system, subject to PD digital position control. In the model the control force is considered piecewise constant. Introducing the nonlinearity related to the saturation of the control force, the bifurcations occurring in the system are analyzed. The system is generally loosing stability through Neimark-Sacker bifurcations, with a relatively simple dynamics. However, the interaction of two different Neimark-Sacker bifurcations steers the system to much more complicated behaviors. About this kind of bifurcation, namely double Neimark-Sacker bifurcation, there are very few studies in the literature. Our analysis is carried out using the method proposed by Kuznetsov. The performed investigation shows the appearance of quasiperiodic motions and the existence of regions with coexisting periodic stable attractors, in the space of the control gains. Numerical simulations validate the results obtained analytically.

Influence of viscosity temperature dependence on the spectral characteristics of the thermoviscous liquids flow stability equation

2019 ◽  
Vol 14 (1) ◽  
pp. 52-58 ◽  
Author(s):  
A.D. Nizamova ◽  
V.N. Kireev ◽  
S.F. Urmancheev
Keyword(s):  
Reynolds Number ◽  
Spectral Characteristics ◽  
Wave Number ◽  
Critical Parameters ◽  
Fluid Viscosity ◽  
Flat Channel ◽  
Stability Equation ◽  
The Stability ◽  
Thermoviscous Fluid ◽  
Sommerfeld Equation

The flow of a viscous model fluid in a flat channel with a non-uniform temperature field is considered. The problem of the stability of a thermoviscous fluid is solved on the basis of the derived generalized Orr-Sommerfeld equation by the spectral decomposition method in Chebyshev polynomials. The effect of taking into account the linear and exponential dependences of the fluid viscosity on temperature on the spectral characteristics of the hydrodynamic stability equation for an incompressible fluid in a flat channel with given different wall temperatures is investigated. Analytically obtained profiles of the flow rate of a thermovisible fluid. The spectral pictures of the eigenvalues of the generalized Orr-Sommerfeld equation are constructed. It is shown that the structure of the spectra largely depends on the properties of the liquid, which are determined by the viscosity functional dependence index. It has been established that for small values of the thermoviscosity parameter the spectrum compares the spectrum for isothermal fluid flow, however, as it increases, the number of eigenvalues and their density increase, that is, there are more points at which the problem has a nontrivial solution. The stability of the flow of a thermoviscous fluid depends on the presence of an eigenvalue with a positive imaginary part among the entire set of eigenvalues found with fixed Reynolds number and wavenumber parameters. It is shown that with a fixed Reynolds number and a wave number with an increase in the thermoviscosity parameter, the flow becomes unstable. The spectral characteristics determine the structure of the eigenfunctions and the critical parameters of the flow of a thermally viscous fluid. The eigenfunctions constructed in the subsequent works show the behavior of transverse-velocity perturbations, their possible growth or decay over time.

Systems with Condensates and Pairing

2018 ◽  
Author(s):  
Klaus Morawetz
Keyword(s):  
Critical Parameters ◽  
Einstein Condensation ◽  
Cooper Pairs ◽  
Pair Breaking ◽  
Systematic Theory ◽  
Bose Einstein Condensation ◽  
T Matrix ◽  
The Stability ◽  
Bose Einstein

The Bose–Einstein condensation and appearance of superfluidity and superconductivity are introduced from basic phenomena. A systematic theory based on the asymmetric expansion of chapter 11 is shown to correct the T-matrix from unphysical multiple-scattering events. The resulting generalised Soven scheme provides the Beliaev equations for Boson’s and the Nambu–Gorkov equations for fermions without the usage of anomalous and non-conserving propagators. This systematic theory allows calculating the fluctuations above and below the critical parameters. Gap equations and Bogoliubov–DeGennes equations are derived from this theory. Interacting Bose systems with finite temperatures are discussed with successively better approximations ranging from Bogoliubov and Popov up to corrected T-matrices. For superconductivity, the asymmetric theory leading to the corrected T-matrix allows for establishing the stability of the condensate and decides correctly about the pair-breaking mechanisms in contrast to conventional approaches. The relation between the correlated density from nonlocal kinetic theory and the density of Cooper pairs is shown.

Stability as a constraint in sagittal plane human force exertion modeling

1998 ◽  
Vol 1 (1) ◽  
pp. 23-39
Author(s):  
Carter J. Kerk ◽  
Don B. Chaffin ◽  
W. Monroe Keyserling
Keyword(s):  
Muscle Strength ◽  
Ankle Joint ◽  
Coefficient Of Friction ◽  
Sagittal Plane ◽  
Biomechanical Model ◽  
Whole Body ◽  
The Stability ◽  
Joint Center ◽  
Static Conditions ◽  
Stability Limits

The stability constraints of a two-dimensional static human force exertion capability model (2DHFEC) were evaluated with subjects of varying anthropometry and strength capabilities performing manual exertions. The biomechanical model comprehensively estimated human force exertion capability under sagittally symmetric static conditions using constraints from three classes: stability, joint muscle strength, and coefficient of friction. Experimental results showed the concept of stability must be considered with joint muscle strength capability and coefficient of friction in predicting hand force exertion capability. Information was gained concerning foot modeling parameters as they affect whole-body stability. Findings indicated that stability limits should be placed approximately 37 % the ankle joint center to the posterior-most point of the foot and 130 % the distance from the ankle joint center to the maximal medial protuberance (the ball of the foot). 2DHFEC provided improvements over existing models, especially where horizontal push/pull forces create balance concerns.

scholarly journals Suboptimal Disturbance Observer Design Using All Stabilizing Q Filter for Precise Tracking Control

Mathematics ◽  
2020 ◽  
Vol 8 (9) ◽  
pp. 1434 ◽  
Author(s):  
Wonhee Kim ◽  
Sangmin Suh
Keyword(s):  
Design Method ◽  
Industrial Applications ◽  
Point Of View ◽  
Observer Design ◽  
Linear Matrix ◽  
External Disturbances ◽  
Closed Loop Systems ◽  
Control Target ◽  
The Stability ◽  
Unified Index

For several decades, disturbance observers (DOs) have been widely utilized to enhance tracking performance by reducing external disturbances in different industrial applications. However, although a DO is a verified control structure, a conventional DO does not guarantee stability. This paper proposes a stability-guaranteed design method, while maintaining the DO structure. The proposed design method uses a linear matrix inequality (LMI)-based H∞ control because the LMI-based control guarantees the stability of closed loop systems. However, applying the DO design to the LMI framework is not trivial because there are two control targets, whereas the standard LMI stabilizes a single control target. In this study, the problem is first resolved by building a single fictitious model because the two models are serial and can be considered as a single model from the Q-filter point of view. Using the proposed design framework, all-stabilizing Q filters are calculated. In addition, for the stability and robustness of the DO, two metrics are proposed to quantify the stability and robustness and combined into a single unified index to satisfy both metrics. Based on an application example, it is verified that the proposed method is effective, with a performance improvement of 10.8%.

scholarly journals Research and Implementation of an Automatic Reset Force of a Force Feedback Handle

2020 ◽  
Vol 316 ◽  
pp. 01003
Author(s):  
Xin An Qiu ◽  
Shi Jia Wang ◽  
Dong Tao Ma
Keyword(s):  
Force Feedback ◽  
High Accuracy ◽  
Damping Coefficient ◽  
Robotic Arm ◽  
Force Model ◽  
Stiffness Coefficient ◽  
Application Field ◽  
New Development

Take the force feedback handle applied to the teleoperation of space robotic arm as a requirement. In order to improve users’ experience, we studied the automatic reset force of the handle. This paper proposes a springdamping model and applies it to the torque output of the motor to achieve a good reset of the handle, which is a new development of the application field of the automatic reset force model of the force feedback device. The experiment shows that the automatic reset force model has high accuracy when the handle returns to zero. In addition, through dynamic and reasonable adjustment of the stiffness coefficient and damping coefficient, it can meet the needs of different users for the automatic reset force of the force feedback handle.

scholarly journals Formation Control of Unmanned Vessels with Saturation Constraint and Extended State Observation

2021 ◽  
Vol 9 (7) ◽  
pp. 772
Author(s):  
Huixuan Fu ◽  
Shichuan Wang ◽  
Yan Ji ◽  
Yuchao Wang
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Tracking Error ◽  
External Environment ◽  
Control Force ◽  
Extended State ◽  
Parameter Perturbation ◽  
State Observation ◽  
Saturation Constraint ◽  
The Stability

This paper addressed the formation control problem of surface unmanned vessels with model uncertainty, parameter perturbation, and unknown environmental disturbances. A formation control method based on the control force saturation constraint and the extended state observer (ESO) was proposed. Compared with the control methods which only consider the disturbances from external environment, the method proposed in this paper took model uncertainties, parameter perturbation, and external environment disturbances as the compound disturbances, and the ESO was used to estimate and compensate for the disturbances, which improved the anti-disturbance performance of the controller. The formation controller was designed with the virtual leader strategy, and backstepping technique was designed with saturation constraint (SC) function to avoid the lack of force of the actuator. The stability of the closed-loop system was analyzed with the Lyapunov method, and it was proved that the whole system is uniformly and ultimately bounded. The tracking error can converge to arbitrarily small by choosing reasonable controller parameters. The comparison and analysis of simulation experiments showed that the controller designed in this paper had strong anti-disturbance and anti-saturation performance to the compound disturbances of vessels and can effectively complete the formation control.

A DENSITY FUNCTIONAL STUDY OF THE STRUCTURE OF SILANE COUPLING AGENT 3–AMINOPROPYLTRIETHOXYSILANE

2005 ◽  
Vol 04 (01) ◽  
pp. 117-126
Author(s):  
N. L. MA ◽  
P. WU
Keyword(s):  
Coupling Agent ◽  
Density Functional ◽  
Solution Structure ◽  
Silane Coupling Agent ◽  
Industrial Applications ◽  
Functional Study ◽  
Stable Form ◽  
Functional Theory ◽  
Silane Coupling ◽  
The Stability

Using density functional theory, we predicted the solution structure of the hydrolyzed 3–aminopropyltriethoxysilane (h–APS), which is a silane coupling agent commonly used in many industrial applications. We have located five stable minima on the potential energy surface of h–APS in which four of them are "neutral", and the remaining one is zwitterionic (dipolar) in nature. Our calculations suggested that the stability of the most stable form of h–APS in water (denoted as II_N) arose from strong intramolecular OH ⋯ N hydrogen bond. The least stable form is the zwitterionic form (I_ZW), which is estimated to be over 90 kJ mol -1 less stable than II_N. The factors governing the relative stabilities of different forms are discussed.

An Operationally Optimized Seven Link Biped Robot Moving on Slopes

2013 ◽  
Author(s):  
Peiman Naseradinmousavi
Keyword(s):  
Simulated Annealing Algorithm ◽  
Nonlinear Modeling ◽  
Biped Robot ◽  
Gait Pattern ◽  
Critical Parameters ◽  
Modeling Process ◽  
Operational Optimization ◽  
Ankle Joints ◽  
Annealing Algorithm ◽  
The Stability

In this paper, we discuss operational optimization of a seven link biped robot using the well-known “Simulated Annealing” algorithm. Some critical parameters affecting the robot gait pattern are selected to be optimized reducing the total energy used. Nonlinear modeling process we published elsewhere is shown here for completeness. The trajectories of both the hip and ankle joints are used to plan the robot gait on slopes and undoubtedly those parameters would be the target ones for the optimization process. The results we obtained reveal considerable amounts of the energy saved for both the ascending and descending surfaces while keeping the robot stable. The stability criterion we utilized for both the modeling and then optimization is “Zero Moment Point”. A comparative study of human evolutionary gait and the operationally optimized robot is also presented.

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