Setpoint Tracking Control With Discrete Actuators Using Controller Switching

2018 ◽  
Author(s):  
Y. Chida ◽  
R. Hara
Keyword(s):  
Steady State ◽  
Lyapunov Function ◽  
Control Problem ◽  
Numerical Simulations ◽  
Tracking Control ◽  
Control Structure ◽  
Control Method ◽  
Tracking Errors ◽  
State Tracking ◽  
Servo Controller

In the present paper, we discuss a setpoint tracking control problem for a plant with discrete actuators. When a conventional linear servo controller is applied to the plant, undesirable periodic vibrations similar to the limit cycle occasionally occur in the output response caused by synergy with the integration of the steady-state tracking errors and the quantized errors of the control inputs. To prevent an undesirable response, a novel control method is proposed, in which the controller switches the control structure based on the value of the Lyapunov function. The effectiveness of the proposed method was verified through numerical simulations.

scholarly journals Visual Tracking Control of Cable-Driven Hyper-Redundant Snake-Like Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 6224
Author(s):  
Qisong Zhou ◽  
Jianzhong Tang ◽  
Yong Nie ◽  
Zheng Chen ◽  
Long Qin
Keyword(s):  
Visual Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Adaptive Optimization ◽  
Tracking Errors ◽  
Kinematics Model ◽  
Compound Control ◽  
Original Intention ◽  
Control Scheme ◽  
Specific Geometry

The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists of numerous joint units connected adjacently driven by elastic materials with hyper-redundant DOF, performs flexible kinematic skills and competitive compound capability under complicated working circumstances. Nevertheless, the drawback of lacking the ability to perceive the environment to perform intelligently in complex scenarios leaves a lot to be improved, which is the original intention to introduce visual tracking feedback acting as an instructor. In this paper, a cable-driven snake-like robotic arm combined with a visual tracking technique is introduced. A visual tracking approach based on dual correlation filter is designed to guide the CHSM in detecting the target and tracing after its trajectory. Specifically, it contains an adaptive optimization for the scale variation of the tracking target via pyramid sampling. For the CHSM, an explicit kinematics model is derived from its specific geometry relationships and followed by a simplification for the inverse kinematics based on some assumption or limitation. A control scheme is brought up to combine the kinematics with visual tracking via the processing tracking errors. The experimental results with a practical prototype validate the availability of the proposed compound control method with the derived kinematics model.

An ADRC Controller Design for Servo System Based on ASFA

2014 ◽  
Vol 905 ◽  
pp. 459-463
Author(s):  
Jian Min Wu ◽  
Min Gang Wang ◽  
Yi Hu
Keyword(s):  
Steady State ◽  
Comparative Analysis ◽  
Pid Controller ◽  
Control Method ◽  
Controller Design ◽  
Servo System ◽  
Parameter Tuning ◽  
Servo Control ◽  
Servo Controller ◽  
System Controller

Paper studied the improved servo system controller based on ADRC. To deal with the inherent defects of traditional PID controller, a servo control method based on the ADRC was proposed. To deal with ADRCs parameter tuning, paper proposed a method based on ASFA. Finally, the improved servo controller based on ADRC was designed and comparative analysis of simulation between the improved ADRC controller and classical PID controller was completed. Results of simulation indicated that the quickness, stability and steady-state accuracy of the tuned controller has been improved. The result verified the correctness and feasibility of the method.

scholarly journals Event-triggered-based Cooperative Game Optimal Tracking Control for Modular Robot Manipulator with Constrained Input

2021 ◽  
Author(s):  
Yuanchun Li ◽  
Chongyang Wei ◽  
Tianjiao An ◽  
Bing Ma ◽  
BO DONG
Keyword(s):  
Control Problem ◽  
Cooperative Game ◽  
Control Strategy ◽  
Tracking Control ◽  
Control Method ◽  
Modular Robot ◽  
Optimal Tracking ◽  
Optimal Tracking Control ◽  
Event Triggered ◽  
Constrained Input

Abstract In this paper, a cooperative game optimal tracking control method based on event-triggered mechanism for constrained input modular robot manipulators (MRMs) system is introduced. According to the joint torque feedback (JTF) technique, the dynamics model of the constrained input subsystem is established and the global state space equation is derived. The control inputs of $n$ joints in the MRM system with constrained input are taken as $n$ participants of cooperative game, the tracking control problem of the manipulator system is transformed into the optimal control problem based on the cooperative game. Next, a fusion function containing position and velocity errors is defined to construct the performance index function. In order to improve the control performance and robustness of the manipulator system, part of the known model information is used to devise controller, the model uncertainty is dealt by the neural network (NN) observer, and the optimal compensation control strategy is used to deal with internal disturbance such as sensor measurement error and transmission ripple due to power fluctuations, electromagnetic effects, noise and vibration. Based on the adaptive dynamic programming (ADP) algorithm and event-triggered mechanism, the optimal tracking control strategy is obtained by approximately solving the event-triggered Hamilton-Jacobi-Bellman (HJB) equation with the critic NN. The Lyapunov theory proves that trajectory tracking error of MRM system with constrained input is uniformly ultimately bounded (UUB). Finally, the experimental results demonstrate the effectiveness of the proposed control method.

Quasi sliding mode control for chaotic symmetric gyros with linear-plus-cubic damping and input nonlinearity

2011 ◽  
Vol 18 (9) ◽  
pp. 1330-1335 ◽  
Author(s):  
Cheng-Fang Huang ◽  
Jui-Sheng Lin ◽  
Teh-Lu Liao ◽  
Jun-Juh Yan
Keyword(s):  
Sliding Mode Control ◽  
Numerical Simulations ◽  
Tracking Control ◽  
Sliding Mode ◽  
Design Method ◽  
Tracking Errors ◽  
Input Nonlinearity ◽  
Mode Control ◽  
Gyro System ◽  
Chattering Phenomenon

In this paper, a new concept of quasi sliding mode control (QSMC) is introduced for the tracking control of chaotic symmetric gyros with linear-plus-cubic damping. In contrast to previous works on sliding mode control, based on the proposed QSMC, the chattering phenomenon can be eliminated. Furthermore, the controlled gyro system can track desired trajectories and tracking errors can be driven into a predictable neighborhood of zero, even when the input nonlinearity is present. Numerical simulations are provided to demonstrate the effectiveness of the proposed QSMC design method.

Stability analysis and robust tracking control for a class of switched nonlinear systems with uncertain input delay

2018 ◽  
Vol 41 (7) ◽  
pp. 2053-2063 ◽  
Author(s):  
Saeed Pezeshki ◽  
Mohammad Ali Badamchizadeh ◽  
Amir Rikhtehgar Ghiasi ◽  
Sehraneh Ghaemi
Keyword(s):  
Nonlinear Systems ◽  
Lyapunov Function ◽  
Control Problem ◽  
Tracking Control ◽  
State Feedback Control ◽  
Input Delay ◽  
Switched Nonlinear Systems ◽  
Robust Tracking Control ◽  
Piecewise Lyapunov Function ◽  
Uncertain Input

In this paper, the stability issue and tracking control problem for a class of switched nonlinear systems with uncertain input delay and disturbance are investigated. First, it is assumed a piecewise Lyapunov function exists for the nominal system (system without input delay and disturbance), and then, under the terms of the hypothetical piecewise Lyapunov function, a new Lyapunov-Krasovskii functional is constructed. By employing this new function and a switching signal which satisfies the average dwell time, the delay-dependent input-to-state stability under a certain delay bound is provided; also, a mechanism is invented to find the upper bound for input delay of switched system. In the next step, tracking control problem for this system is studied. Finally, a kind of state feedback control law which ensures conditions of aforesaid hypothetical piecewise Lyapunov function is proposed to guarantee the input-to-state stability and the robust model reference tracking performance. Simulation examples are given to illustrate the effectiveness of the proposed strategy.

scholarly journals Application of the Preview Control Method to the Optimal Tracking Control Problem for Continuous-Time Systems with Time-Delay

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Fucheng Liao ◽  
Haishan Xu
Keyword(s):  
Time Delay ◽  
Control Problem ◽  
Continuous Time ◽  
Tracking Control ◽  
Control Method ◽  
Reference Signal ◽  
Preview Control ◽  
Optimal Tracking ◽  
Continuous Time Systems ◽  
Time Systems

This paper considers the application of the preview control method to the optimal tracking control problem for a class of continuous-time systems with state and input delays. First, through a transformation, the system is transformed into a nondelayed one. Then, the tracking problem of the time-delay system is transformed into one of a nondelayed system via processing of the reference signal. We then apply preview control theory to derive an augmented system for the nondelayed system and design a controller with preview function assuming that the reference signal is previewable. Finally, we obtain the optimal control law of the augmented error system and thus obtain that of the original system by letting the preview length of the reference signal go to zero. Numerical simulations are provided to illustrate the effectiveness and validity of our conclusions.

A Consistent Implementation of Inelastic Material Models into Steady State Rolling

2016 ◽  
Vol 44 (3) ◽  
pp. 174-190 ◽  
Author(s):  
Mario A. Garcia ◽  
Michael Kaliske ◽  
Jin Wang ◽  
Grama Bhashyam
Keyword(s):  
Steady State ◽  
Numerical Simulations ◽  
Viscoelastic Material ◽  
Rolling Contact ◽  
Arbitrary Lagrangian Eulerian ◽  
Ale Formulation ◽  
Inelastic Material ◽  
Material Formulation ◽  
Steady State Rolling ◽  
Efficient Alternative

ABSTRACT Rolling contact is an important aspect in tire design, and reliable numerical simulations are required in order to improve the tire layout, performance, and safety. This includes the consideration of as many significant characteristics of the materials as possible. An example is found in the nonlinear and inelastic properties of the rubber compounds. For numerical simulations of tires, steady state rolling is an efficient alternative to standard transient analyses, and this work makes use of an Arbitrary Lagrangian Eulerian (ALE) formulation for the computation of the inertia contribution. Since the reference configuration is neither attached to the material nor fixed in space, handling history variables of inelastic materials becomes a complex task. A standard viscoelastic material approach is implemented. In the inelastic steady state rolling case, one location in the cross-section depends on all material locations on its circumferential ring. A consistent linearization is formulated taking into account the contribution of all finite elements connected in the hoop direction. As an outcome of this approach, the number of nonzero values in the general stiffness matrix increases, producing a more populated matrix that has to be solved. This implementation is done in the commercial finite element code ANSYS. Numerical results confirm the reliability and capabilities of the linearization for the steady state viscoelastic material formulation. A discussion on the results obtained, important remarks, and an outlook on further research conclude this work.

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