Nonlinear Feedback Law for Tracking Control of DC-Actuated Robots

1999 ◽  
Author(s):  
L. Beji ◽  
M. Pascal
Keyword(s):  
Singular Perturbations ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Law ◽  
Nonlinear Feedback ◽  
Serial Robot ◽  
The Stability ◽  
Stability Results ◽  
Three Degrees Of Freedom

Abstract In this paper, a nonlinear feedback law for tracking control of robots is proposed. The dynamic of actuators and only position measurements are taking into account to design the control law. The stability results are obtained from the passivity property of the system, and using singular perturbations techniques. Simulation tests are performed on a three degrees-of-freedom serial robot to illustrate our control law.

scholarly journals Galloping Stability and Wind Tunnel Test of Iced Quad Bundled Conductors considering Wake Effect

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Xiaohui Liu ◽  
Ming Zou ◽  
Chuan Wu ◽  
Mengqi Cai ◽  
Guangyun Min ◽  
...  
Keyword(s):  
Wind Tunnel ◽  
Transmission Lines ◽  
Degrees Of Freedom ◽  
Wind Tunnel Test ◽  
Aerodynamic Coefficients ◽  
Wake Effect ◽  
Aerodynamic Coefficient ◽  
Set Up ◽  
The Stability ◽  
Three Degrees Of Freedom

A new quad bundle conductor galloping model considering wake effect is proposed to solve the problem of different aerodynamic coefficients of each subconductor of iced quad bundle conductor. Based on the quasistatic theory, a new 3-DOF (three degrees of freedom) galloping model of iced quad bundle conductors is established, which can accurately reflect the energy transfer and galloping of quad bundle conductor in three directions. After a series of formula derivations, the conductor stability judgment formula is obtained. In the wind tunnel test, according to the actual engineering situation, different variables are set up to accurately simulate the galloping of iced quad bundle conductor under the wind, and the aerodynamic coefficient is obtained. Finally, according to the stability judgment formula of this paper, calculate the critical wind speed of conductor galloping through programming. The dates of wind tunnel test and calculation in this paper can be used in the antigalloping design of transmission lines.

scholarly journals Boundary Stabilization of a Semilinear Wave Equation with Variable Coefficients under the Time-Varying and Nonlinear Feedback

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Bei Gong ◽  
Xiaopeng Zhao
Keyword(s):  
Wave Equation ◽  
Riemannian Geometry ◽  
Nonlinear Term ◽  
Variable Coefficients ◽  
Time Varying ◽  
Nonlinear Feedback ◽  
Boundary Stabilization ◽  
Semilinear Wave Equation ◽  
The Stability ◽  
Stability Results

We study the boundary stabilization of a semilinear wave equation with variable coefficients under the time-varying and nonlinear feedback. By the Riemannian geometry methods, we obtain the stability results of the system under suitable assumptions of the bound of the time-varying term and the nonlinearity of the nonlinear term.

Cooperative Tracking Control for Formation Keeping of Fractionated Spacecraft Based on Error Exchanging

2014 ◽  
Vol 1016 ◽  
pp. 649-654
Author(s):  
Ya Feng Niu ◽  
Yong Ming Gao
Keyword(s):  
Tracking Control ◽  
Cooperative Control ◽  
Sliding Mode ◽  
Control Law ◽  
Velocity Information ◽  
The Stability ◽  
Cooperative Tracking ◽  
Fractionated Spacecraft ◽  
High Degree ◽  
Formation Keeping

This paper discusses the cooperative control for formation keeping of fractionated spacecraft, which is a new concept in recent years. For system of second-order differential equations of formation flying dynamics, knowledge of graph and consensus theory is introduced in study. By means of the idea of sliding mode control, we design a tracking control law for time-varying desired signal. Via exchanging error information among modules, the control law can make errors synchronized up to zero to achieve tracking. Relative velocity information between modules is not needed in this control law, which will efficiently reduce the requirements for relative navigation between modules. Then we prove the stability of the control system. Finally numerical simulation results show the effectiveness of the control law. By configuring the control parameters reasonably, we can achieve high degree of control accuracy.

Pointwise Optimal Control of Dynamical Systems Described by Constrained Coordinates

1999 ◽  
Vol 121 (4) ◽  
pp. 594-598 ◽  
Author(s):  
V. Radisavljevic ◽  
H. Baruh
Keyword(s):  
Optimal Control ◽  
Dynamical Systems ◽  
Feedback Control ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Differential Algebraic Equations ◽  
Control Law ◽  
Algebraic Equations ◽  
The Stability ◽  
The Mathematical Model

A feedback control law is developed for dynamical systems described by constrained generalized coordinates. For certain complex dynamical systems, it is more desirable to develop the mathematical model using more general coordinates then degrees of freedom which leads to differential-algebraic equations of motion. Research in the last few decades has led to several advances in the treatment and in obtaining the solution of differential-algebraic equations. We take advantage of these advances and introduce the differential-algebraic equations and dependent generalized coordinate formulation to control. A tracking feedback control law is designed based on a pointwise-optimal formulation. The stability of pointwise optimal control law is examined.

Analysis of Vehicle Dynamic Equilibrium Points with 3-DOF Based on Genetic Algorithm

2014 ◽  
Vol 608-609 ◽  
pp. 721-725
Author(s):  
Rong Li ◽  
Wei Min Li
Keyword(s):  
Genetic Algorithm ◽  
Vehicle Dynamics ◽  
Optimization Design ◽  
Degrees Of Freedom ◽  
Dynamic Equilibrium ◽  
Equilibrium Points ◽  
Vehicle Handling ◽  
Dynamic Modification ◽  
The Stability ◽  
Three Degrees Of Freedom

To further study the stability of vehicle dynamics, a vehicle handling stability’s nonlinear model (including longitudinal, lateral and yaw movement three degrees of freedom) was established. Genetic algorithm was proposed for the vehicle dynamics system’s equilibrium points with 3-DOF. This algorithm solves the problem that cannot be solved through the traditional analytic algorithms and numerical methods. Comparing with the existing research results, the feasibility of solving the equilibrium point by the genetic algorithm is verified. It provides the theoretical foundation for dynamic modification and optimization design of powertrain.

scholarly journals Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator

2021 ◽  
Vol 54 (4) ◽  
pp. 641-647
Author(s):  
Mukul Kumar Gupta ◽  
Roushan Kumar ◽  
Varnita Verma ◽  
Abhinav Sharma
Keyword(s):  
Stability Analysis ◽  
Robust Control ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Torque Control ◽  
Control Technique ◽  
Control Law ◽  
Worst Case ◽  
Control Techniques ◽  
The Stability

In this paper the stability and tracking control for robot manipulator subjected to known parameters is proposed using robust control technique. The modelling of robot manipulator is obtained using Euler- Lagrange technique. Three link manipulators have been taken for the study of robust control techniques. Lyapunov based approach is used for stability analysis of triple link robot manipulator. The Ultimate upper bound parameter (UUBP) is estimated by the worst-case uncertainties subject to bounded conditions. The proposed robust control is also compared with computer torque control to show the superiority of the proposed control law.

Robust Trajectory Following Control of Robotic Systems

1985 ◽  
Vol 107 (4) ◽  
pp. 308-315 ◽  
Author(s):  
S. N. Singh ◽  
A. A. Schy
Keyword(s):  
Degrees Of Freedom ◽  
Digital Simulation ◽  
Robotic Systems ◽  
Control Law ◽  
Robot Arm ◽  
Control Laws ◽  
Payload Uncertainty ◽  
Trajectory Following ◽  
And Control ◽  
Three Degrees Of Freedom

Using an inversion approach we derive a control law for trajectory following of robotic systems. A servocompensator is used around the inner decoupled loop for robustness to uncertainty in the system. These results are applied to trajectory control of a three-degrees-of-freedom robot arm and control laws Cθ and CH for joint angle and position trajectory following, respectively, are derived. Digital simulation results are presented to show the rapid trajectory following capability of the controller in spite of payload uncertainty.

scholarly journals Design and Verification of Heading and Velocity Coupled Nonlinear Controller for Unmanned Surface Vehicle

Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3427 ◽  
Author(s):  
Jiucai Jin ◽  
Jie Zhang ◽  
Deqing Liu
Keyword(s):  
Degrees Of Freedom ◽  
Lyapunov Theory ◽  
Velocity Control ◽  
Nonlinear Controller ◽  
Experiment Data ◽  
Unmanned Surface Vehicle ◽  
Autonomous Operation ◽  
The Stability ◽  
Velocity Tracking ◽  
Three Degrees Of Freedom

Unmanned Surface Vehicle (USV) is a novel multifunctional platform for ocean observation, and its heading and velocity control are essential and important for autonomous operation. A coupled heading and velocity controller is designed using backstepping technology for an USV called ‘USBV’ (Unmanned Surface Bathymetry Vehicle). The USBV is an underactuated catamaran, where the heading and velocity are controlled together by two thrusters at the stern. The three degrees-of-freedom equations are used for USBV’s modeling, which is identified using experiment data. The identified model, with two inputs, induces heading and velocity tracking, which are coupled. Based on the model, a nonlinear controller for heading and velocity are acquired using backstepping technology. The stability of the controller is proved by Lyapunov theory under some assumptions. The verification is presented by lake and sea experiments.

Position and Attitude Tracking Control Law Design Using Geometric Algebra

2014 ◽  
Vol 602-605 ◽  
pp. 1113-1116
Author(s):  
Di Min Wu ◽  
Zhen Jing Li ◽  
Bin Li ◽  
Yu Xia Chen ◽  
Li Li
Keyword(s):  
Rigid Body ◽  
Geometric Algebra ◽  
Tracking Control ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Control Law ◽  
Proportional Control ◽  
Attitude Tracking ◽  
Attitude Tracking Control ◽  
The Stability

A position and attitude tracking control law is developed using geometric algebra (GA). The rigid body motion can be represented by the screw versor (or motor) in GA. Using the kinematics of the motor, the tracking control law of the rigid body motion can be formulated similar to the proportional control law. This paper provides a GA-based position and attitude tracking control law by using the negative feedback of the motor logarithm. The stability of the control law is validated by the numerical simulation.

scholarly journals Nonanthropomorphic exoskeleton with legs based on eight-bar linkages

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875577 ◽  
Author(s):  
Jorge Curiel Godoy ◽  
Ignacio Juárez Campos ◽  
Lucia Márquez Pérez ◽  
Leonardo Romero Muñoz
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Main Function ◽  
Polynomial Functions ◽  
Forward And Inverse Kinematics ◽  
And Performance ◽  
The Stability ◽  
Robotic Leg ◽  
Three Degrees Of Freedom ◽  
Difficulty Walking

This article presents the principles upon which a new nonanthropomorphic biped exoskeleton was designed, whose legs are based on an eight-bar mechanism. The main function of the exoskeleton is to assist people who have difficulty walking. Every leg is based on the planar Peaucellier–Lipkin mechanism, which is a one degree of freedom linkage. To be used as a robotic leg, the Peaucellier–Lipkin mechanism was modified by including two more degrees of freedom, as well as by the addition of a mechanical system based on toothed pulleys and timing belts that provides balance and stability to the user. The use of the Peaucellier–Lipkin mechanism, its transformation from one to three degrees of freedom, and the incorporation of the stability system are the main innovations and contributions of this novel nonanthropomorphic exoskeleton. Its mobility and performance are also presented herein, through forward and inverse kinematics, together with its application in carrying out the translation movement of the robotic foot along paths with the imposition of motion laws based on polynomial functions of time.

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