Controlled Synchronization of Mechanical Systems

2008 ◽  
Author(s):  
Nikhil Chopra ◽  
YenChen Liu
Keyword(s):  
Trajectory Tracking ◽  
Time Delays ◽  
Control Algorithm ◽  
Mechanical Systems ◽  
Tracking Algorithm ◽  
Numerical Example ◽  
Output Synchronization

In this paper we study the problem of synchronization and trajectory tracking in mechanical systems. Exploiting output synchronization results developed previously, a control algorithm is developed to guarantee output synchronization in addition to trajectory tracking in mechanical systems. The classical Slotine-Li adaptive trajectory tracking algorithm is modified to synchronize mechanical systems following a common trajectory. The robustness of the proposed scheme to time delays in communication is also discussed. A numerical example is presented to verify the efficacy of the proposed results.

Controlled Synchronization of Robotic Manipulators in the Task Space

2009 ◽  
Author(s):  
YenChen Liu ◽  
Nikhil Chopra
Keyword(s):  
Trajectory Tracking ◽  
Control Algorithm ◽  
Robotic Manipulators ◽  
Joint Space ◽  
Task Space ◽  
Numerical Example ◽  
Redundant Robots ◽  
Control Schemes ◽  
Heterogeneous Robots ◽  
Dynamic Uncertainties

Due to its practical applicability, recently several algorithms for robot synchronization have been developed in the literature. However, the focus of these control schemes has primarily been on joint-space control and in the absence of communication unreliabilities between the agents. In this paper, we study the problem of task space synchronization and trajectory tracking for heterogeneous robots under dynamic uncertainties. Exploiting passivity based synchronization results developed previously, a new control algorithm is proposed to guarantee task space synchronization for a group of robotic manipulators. Both non-redundant and redundant robots are considered and the proposed scheme is validated by a numerical example.

Output trajectory tracking for mechanical systems with dry friction: A DPC approach

1997 ◽  
Author(s):  
D. von Wissel ◽  
R. Nikoukhah ◽  
F. Delebecque ◽  
P.-A. Bliman ◽  
M. Soline
Keyword(s):  
Trajectory Tracking ◽  
Dry Friction ◽  
Mechanical Systems ◽  
Output Trajectory

scholarly journals Trajectory tracking sliding mode control for underactuated autonomous underwater vehicles with time delays

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091627
Author(s):  
Jiajia Zhou ◽  
Xinyi Zhao ◽  
Zhiguang Feng ◽  
Di Wu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Time Delays ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Trajectory Tracking Control ◽  
Error Equation ◽  
Mode Control ◽  
Input Time

Trajectory tracking control of autonomous underwater vehicles in three-dimension always suffers disturbances such as input time delays and model uncertainties. Regarding this problem, an integral time-delay sliding mode control law is proposed in this article with dividing the vehicle’s input time delays model into cascade system consisting of a kinematics subsystem and a dynamics subsystem. Based on the established pose error equation and velocity error equation, a suitable Lyapunov–Krasovskii functional is given to analyze and guarantee the global stability of the whole system under reasonable assumptions. At last, comparative simulations are presented to demonstrate the effectiveness of the proposed method.

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