Comparison of Control Methods for Two-Link Planar Flexible Manipulator

2017 ◽  
Author(s):  
Joseph Bowkett ◽  
Rudranarayan Mukherjee
Keyword(s):  
Position Control ◽  
Linear Quadratic Regulator ◽  
Flexible Manipulator ◽  
Linear Quadratic ◽  
Large Space ◽  
Loop Control ◽  
Command Shaping ◽  
Aerospace Applications ◽  
Control Command ◽  
Low Stiffness

While the majority of terrestrial multi-link manipulators can be considered in a purely kinematic sense due to their high stiffness, the launch mass restrictions of aerospace applications such as in-orbit assembly of large space structures result in low stiffness links being employed, meaning dynamics can no longer be ignored. This paper seeks to investigate the suitability of several different open and closed loop control techniques for application to the problem of end effector position control with minimal vibration for a low stiffness space based manipulator. Simulations of a representative planar problem with two flexible links are used to measure performance and sensitivity to parameter variation of: model predictive control, command shaping, and command shaping with linear quadratic regulator (LQR) feedback. An experimental testbed is then used to validate simulation results for the recommended command shaped controller.

scholarly journals Neural Network Based Contact Force Control Algorithm for Walking Robots

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 287
Author(s):  
Byeongjin Kim ◽  
Soohyun Kim
Keyword(s):  
Neural Network ◽  
Contact Force ◽  
Force Control ◽  
Control Algorithm ◽  
Position Control ◽  
Linear Quadratic Regulator ◽  
Walking Robots ◽  
Test Model ◽  
Linear Quadratic ◽  
Contact Force Control

Walking algorithms using push-off improve moving efficiency and disturbance rejection performance. However, the algorithm based on classical contact force control requires an exact model or a Force/Torque sensor. This paper proposes a novel contact force control algorithm based on neural networks. The proposed model is adapted to a linear quadratic regulator for position control and balance. The results demonstrate that this neural network-based model can accurately generate force and effectively reduce errors without requiring a sensor. The effectiveness of the algorithm is assessed with the realistic test model. Compared to the Jacobian-based calculation, our algorithm significantly improves the accuracy of the force control. One step simulation was used to analyze the robustness of the algorithm. In summary, this walking control algorithm generates a push-off force with precision and enables it to reject disturbance rapidly.

scholarly journals Iterative Linear Quadratic Regulator (ILQR) Controller for Trolley Position Control of Quanser 3DOF Crane

2015 ◽  
Vol 8 (16) ◽  
Author(s):  
Muhammad Faisal ◽  
Mohsin Jamil ◽  
Qasim Awais ◽  
Usman Rashid ◽  
Muhammad Sami Syed Omer Gilani ◽  
...  
Keyword(s):  
Position Control ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic

Optimal attitude trajectory planning method for CMG actuated spacecraft

2017 ◽  
Vol 232 (1) ◽  
pp. 131-142 ◽  
Author(s):  
Lijun Zhang ◽  
Chunmei Yu ◽  
Shifeng Zhang ◽  
Hong Cai
Keyword(s):  
Trajectory Planning ◽  
Closed Loop ◽  
Pseudospectral Method ◽  
Linear Quadratic Regulator ◽  
Fixed Time ◽  
Open Loop ◽  
Planning Method ◽  
Global Perspective ◽  
Linear Quadratic ◽  
Loop Control

This paper presents an optimal attitude trajectory planning method for the spacecraft equipped with control moment gyros as the actuators. Both the fixed-time energy-optimal and synthesis performance optimal cases are taken into account. The corresponding nonsingular attitude maneuvering trajectories (i.e. open-loop control trajectories) with the consideration of a series of constraints are generated via Radau pseudospectral method. Compared with the traditional steering laws, the optimal steering law designed by this method can explicitly avoid the singularity from the global perspective. A linear quadratic regulator closed-loop controller is designed to guarantee the trajectory tracking performance in the presence of initial errors, inertia uncertainties and external disturbances. Simulation results verify the validity and feasibility of the proposed open-loop and closed-loop control methods.

Dynamic Modeling and Vibration Control of a Space Flexible Manipulator Using Piezoelectric Actuators and Sensors

2011 ◽  
Vol 345 ◽  
pp. 46-52 ◽  
Author(s):  
Jun Qiang Lou ◽  
Yan Ding Wei
Keyword(s):  
Vibration Control ◽  
Dynamic Modeling ◽  
Vibration Suppression ◽  
Equations Of Motion ◽  
Linear Quadratic Regulator ◽  
Flexible Manipulator ◽  
Coupled Vibration ◽  
Linear Quadratic ◽  
Space Manipulator ◽  
Tip Mass

This paper concerns the dynamic modeling and vibration control of a space two-link flexible manipulator. Two types of PZT actuators, PZT shear actuator and torsional actuator, are used to suppress the bending-torsional-coupled vibration of the space manipulator. Using extended Hamilton’s principle and the finite element method, equations of motion of the space flexible manipulator with PZT actuators and tip mass are obtained. Based on modal analyze theory, the state space model of the system is then used to design the control system. A linear quadratic regulator (LQR) controller is designed to achieve vibration suppression of the space manipulator system. From the numerical results, we can get that the proposed controller has a suitable and efficient performance suppressing the bending-torsional-coupled vibration of the space two-link flexible manipulator.

Active Vibration Control for a Machine Tool With Parallel Kinematics and Adaptronic Actuator

2009 ◽  
Vol 4 (3) ◽  
Author(s):  
Alexandra Ast ◽  
Peter Eberhard
Keyword(s):  
Machine Tool ◽  
Vibration Control ◽  
Position Control ◽  
Active Vibration Control ◽  
Linear Quadratic Regulator ◽  
Parallel Kinematics ◽  
Linear Quadratic ◽  
Control Approach ◽  
Authority Control ◽  
Active Vibration

The use of adaptronic components opens up interesting new possibilities for modern machine tools such as parallel kinematics. In this paper, two active vibration control concepts are designed for an adaptronic component of a parallel kinematic machine tool. The machine tool is modeled as a flexible multibody system model including a nonlinear flatness-based position control. Both the combination of a frequency shaped linear quadratic regulator with an active damping concept in a high authority control/low authority control approach and the H2 optimal control with gain scheduling show a high potential in the simulation to significantly increase the disturbance rejection or the tracking performance of the machine tool.

Real Time Modeling and Control of Three Tank Hybrid System

2018 ◽  
Vol 13 (1) ◽  
Author(s):  
K. Sathishkumar ◽  
V. Kirubakaran ◽  
T. K. Radhakrishnan
Keyword(s):  
Real Time ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Estimation Model ◽  
Linear Quadratic ◽  
Loop Control ◽  
Modeling And Control ◽  
Time Modeling ◽  
Lqr Controller ◽  
Servo Tracking

AbstractThis study discusses the modeling and linear quadratic regulator (LQR) controller based closed loop control of a three tank hybrid (TTH) process. A pseudo random binary signal (PRBS) based excitation data obtained from a real time TTH setup is utilized in validating its first principle model (FPM). Based on top and bottom interactions, various modes prevalent are considered based on steady state physical reachability analysis of the TTH for a given input range for controller design. The FPM is linearized using nominal values of process parameters using Jacobians from each existing mode. LQR controllers are designed for each mode. A supervisory structure is designed for selecting estimation model and controller for each appropriate mode. Results from real time servo tracking and disturbance rejection experiments are discussed.

Robust Control of Coordinated Motion for Free-Floating Space Flexible Manipulator by Singular Perturbation Approach

2009 ◽  
Author(s):  
Chen Li ◽  
Hong Zhaobin
Keyword(s):  
Robust Control ◽  
Singular Perturbation ◽  
Active Vibration Control ◽  
Linear Quadratic Regulator ◽  
Flexible Manipulator ◽  
Perturbation Approach ◽  
Linear Quadratic ◽  
Coordinated Motion ◽  
Inertial Parameters ◽  
Optimal Linear

The robust control of coordinated motion and active vibration control for free-floating space flexible manipulator with an attitude-controlled base are studied. The dynamic equations of the system are developed by using the Lagrangian assumed modes methods, it is verified that the dynamic equation can be linearly dependent on a group of inertial parameters. Based on the results and under the assumption of two-time scale, singular perturbation model of the space flexible manipulator system is obtained. The fast subsystem controller will damp out the vibration of the flexible link using optimal Linear Quadratic Regulator (LQR) method. The slow subsystem robust controller dominates the trajectory tracking of coordinated motion. In particular, the control scheme doesn’t require measuring the position, velocity nor acceleration of the base. The numerical simulation is carried out, which confirms the controller proposed is feasible and effective.

Modular estimation of lateral vehicle dynamics and application in optimal AFS control

2021 ◽  
pp. 095440702110143
Author(s):  
Shouvik Chakraborty ◽  
Ashoke Sutradhar ◽  
Anindita Sengupta
Keyword(s):  
Linear Quadratic Regulator ◽  
Estimation Algorithm ◽  
Vehicle Model ◽  
Linear Quadratic ◽  
Loop Control ◽  
Lateral Vehicle Dynamics ◽  
Estimation Scheme ◽  
Tire Dynamics ◽  
Stable Performance ◽  
Tire Forces

The paper introduces a novel modular estimation approach for lateral vehicle and tire dynamics using a simplified vehicle model and a non-linear estimation algorithm. A dynamics-oriented representation of lateral tire forces with a single track lateral vehicle model (STVM) has been introduced. Subsequently, extended Kalman filter (EKF) based distributed observer modules for each dynamical parameter has been designed and combined into a Unified Estimation Scheme (UES). Finally, a linear quadratic regulator (LQR) based Active Front Steering (AFS) control system has been designed using the estimated parameters. The accuracy and computational efficiency of the designed scheme has been analyzed and compared to non-modular UKF, EKF, and Particle Filter (PF) algorithms, through Monte-Carlo Simulations using the CarSim dataset for both high and low [Formula: see text] surfaces, followed by further validation using real-time dataset. The results show that the proposed system significantly improve the accuracy and speed of estimation, as well as stable performance in closed loop control.

scholarly journals Optimal Tuning of Linear Quadratic Regulator Controller Using Ant Colony Optimization Algorithm for Position Control of a Permanent Magnet DC Motor

2020 ◽  
pp. 29-41
Keyword(s):  
Cost Function ◽  
Permanent Magnet ◽  
Ant Colony Optimization ◽  
Position Control ◽  
Particle Swarm ◽  
Linear Quadratic Regulator ◽  
Dc Motor ◽  
Ant Colony ◽  
Linear Quadratic ◽  
Lqr Controller

This paper presents the design of an optimal Linear Quadratic Regulator (LQR) controller using Ant Colony Optimization (ACO) and particle swarm optimization (PSO) methods for position control of a permanent magnet DC (PMDC) motor. In this work, Ant Colony control and particle swarm control algorithms have been utilized to set the optimal elements of the weighting matrices subjected to a proposed cost function. The proposed cost function is a combination of the quadratic performance index and integral square error. The proposed design can overcome the difficulty in setting the weighting matrices with the suitable elements. The simulation results using (Matlab Package) show that the optimal LQR controller using ACO algorithm can give excellent performance in terms of obtaining smooth and unsaturated state voltage control action that will stabilize the DC motor system performance and minimize the position tracking error of the system output. In addition, the rising time and settling time is decreased in comparison with the LQR based PSO controller performance.

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