Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads

2019 ◽  
Author(s):  
Jonathan S. Terry ◽  
Justin Whitaker ◽  
Randal W. Beard ◽  
Marc D. Killpack
Keyword(s):  
Adaptive Control ◽  
Large Scale ◽  
Robot Manipulator ◽  
Coupling Model ◽  
Effective Control ◽  
Soft Robot ◽  
Soft Robots ◽  
Pneumatic Actuators ◽  
Integral Controller ◽  
Model Reference Adaptive

Abstract The compliance and other nonlinear dynamics of large-scale soft robots makes effective control difficult. This is especially true when working with unknown payloads or when the system dynamics change over time which is likely to happen for soft robots. In this paper, we present a novel method of coupling model reference adaptive control (MRAC) with model predictive control (MPC) for platforms with antagonistic pneumatic actuators. We demonstrate its utility on a fully inflatable, six degree-of-freedom pneumatically actuated soft robot manipulator that is over two meters long. Specifically, we compare control performance with no integral controller, with an integral controller, and with MRAC when running a nominal model predictive controller with significant weight attached to the end effector.

scholarly journals New Adaptive Control Strategy for a Wind Turbine Permanent Magnet Synchronous Generator (PMSG)

Inventions ◽  
2020 ◽  
Vol 6 (1) ◽  
pp. 3
Author(s):  
Wenping Cao ◽  
Ning Xing ◽  
Yan Wen ◽  
Xiangping Chen ◽  
Dong Wang
Keyword(s):  
Adaptive Control ◽  
Wind Turbine ◽  
Permanent Magnet ◽  
Control Method ◽  
Synchronous Generator ◽  
Permanent Magnet Synchronous Generator ◽  
Model Reference ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Model Reference Adaptive

Wind energy conversion systems have become a key technology to harvest wind energy worldwide. In permanent magnet synchronous generator-based wind turbine systems, the rotor position is needed for variable speed control and it uses an encoder or a speed sensor. However, these sensors lead to some obstacles, such as additional weight and cost, increased noise, complexity and reliability issues. For these reasons, the development of new sensorless control methods has become critically important for wind turbine generators. This paper aims to develop a new sensorless and adaptive control method for a surface-mounted permanent magnet synchronous generator. The proposed method includes a new model reference adaptive system, which is used to estimate the rotor position and speed as an observer. Adaptive control is implemented in the pulse-width modulated current source converter. In the conventional model reference adaptive system, the proportional-integral controller is used in the adaptation mechanism. Moreover, the proportional-integral controller is generally tuned by the trial and error method, which is tedious and inaccurate. In contrast, the proposed method is based on model predictive control which eliminates the use of speed and position sensors and also improves the performance of model reference adaptive control systems. In this paper, the proposed predictive controller is modelled in MATLAB/SIMULINK and validated experimentally on a 6-kW wind turbine generator. Test results prove the effectiveness of the control strategy in terms of energy efficiency and dynamical adaptation to the wind turbine operational conditions. The experimental results also show that the control method has good dynamic response to parameter variations and external disturbances. Therefore, the developed technique will help increase the uptake of permanent magnet synchronous generators and model predictive control methods in the wind power industry.

New Method of Single-Phase Photovoltaic Inverter Based on Energy Power Grid Control

2013 ◽  
Vol 380-384 ◽  
pp. 3324-3327
Author(s):  
Xiao Yue Liu ◽  
Le Le Yao ◽  
Jin Biao Yang
Keyword(s):  
Adaptive Control ◽  
Power Supply ◽  
Single Phase ◽  
Power Grid ◽  
Control Model ◽  
Effective Control ◽  
The Public ◽  
New Energy ◽  
Grid Operation ◽  
Model Reference Adaptive

Nowadays, the use of new energy increasing attention has been paid. In response to the current situation of shortage of energy, people will treat photovoltaic inverter as a new power supply. In order to improve the utilization of solar energy, the single-phase photovoltaic inverter power grid and the public grid operation. It is important that the effective control in the process of grid Inverter for solar. Lack of the PID strategy in the grid control, model reference adaptive control is improved. The method is verified by simulation applied to the reasonableness of the grid control.

scholarly journals Model Reference Predictive Adaptive Control for Large-Scale Soft Robots

2020 ◽  
Vol 7 ◽  
Author(s):  
Phillip Hyatt ◽  
Curtis C. Johnson ◽  
Marc D. Killpack
Keyword(s):  
Adaptive Control ◽  
Large Scale ◽  
Soft Robots ◽  
Model Reference

Nonlinear Model Tracking by Robot Manipulators

1989 ◽  
Vol 111 (3) ◽  
pp. 437-443 ◽  
Author(s):  
J. M. Skowronski
Keyword(s):  
Adaptive Control ◽  
Robot Manipulator ◽  
Linear Equations ◽  
Uncertain Parameters ◽  
Adaptive Feedback ◽  
Modified Model ◽  
Onboard Computer ◽  
Highly Nonlinear ◽  
Adaptive Laws ◽  
Model Reference Adaptive

The modified model reference adaptive control (MRAC) technique is used to make a highly nonlinear and coupled n DOF robot manipulator with uncertain parameters to follow a prescribed model in a real time and on bounded work-space. The time and accuracy of the tracking may be stipulated. The corresponding adaptive laws are given in terms of exactly integrable simple linear equations and the signal adaptive feedback controller is specified in a closed form, thus making the onboard computer to work as a calculator. An RP-manipulator example illustrates the results.

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