Adaptive Control of Nanowires Motion Using Electric Fields in Fluid Suspension

2019 ◽  
Author(s):  
Juan Wu ◽  
Kaiyan Yu
Keyword(s):  
Adaptive Control ◽  
Electric Fields ◽  
Adaptive Controller ◽  
Experimental Results ◽  
Parametric Uncertainties ◽  
Control Scheme ◽  
Complex Characterization ◽  
Adaptive Control Scheme

Abstract Automated, highly precise manipulation of nanowires and nanotubes is essential to achieve scalable nanomanufacturing. However, nanowires exhibit uncontrolled variations in their structures or compositions that can limit their functions and properties. In this paper, we present an adaptive controller for the simultaneous manipulation of multiple nanowires using electric fields. We then prove its stability in the presence of parametric uncertainties. Without complex characterization of each nanowire’s mobility, the nanowires can be steered to achieve precisely controlled positions. Simulation and experimental results confirm the proposed adaptive control scheme precisely, independently, and simultaneously manipulates the motion of multiple nanowires.

Modelling and Adaptive Control of Tendon-Driven Micromanipulators in the Presence of Van-der-Waals Forces

2004 ◽  
Author(s):  
Athanasios Tsoukalas ◽  
Anthony Tzes
Keyword(s):  
Adaptive Control ◽  
Design Problem ◽  
Van Der Waals ◽  
Adaptive Controller ◽  
Simulation Studies ◽  
Unknown Parameters ◽  
Actuation Mechanism ◽  
Control Scheme ◽  
Driven System ◽  
Adaptive Control Scheme

In this article, the design problem of an adaptive controller for a robotic micromanipulator, including the effects of the applied Van der Waals (VdW) forces is considered. The micro-manipulator’s dynamic model is appropriately modified in order to include the interaction of the attractive VdW-forces. Inhere, every link is decomposed into a series of elementary particles (e.g. spheres), each one interacting with the robot’s neighboring objects during its motion. This interaction induces nonlinear additive terms in the model, attributed to the overall effect of the VdW-forces. The actuation is achieved by a tendon-driven system. At each joint, a pair of tendons is attached and act in an almost passive antagonistic manner. The kinematic and dynamic analysis of the tendon-driven actuation mechanism is offered. Consequently, the microrobot’s model is shown to be linearly parameterizable. Subject to this observation, a globally stabilizable adaptive control scheme is derived, estimating the unknown parameters (masses, generalized VdW-forces) and compensating any variations of those. Simulation studies on a 2-DOF micro-manipulator are offered to highlight the effectiveness of the proposed scheme.

A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs

Robotica ◽  
2013 ◽  
Vol 31 (7) ◽  
pp. 1103-1117 ◽  
Author(s):  
D. J. López-Araujo ◽  
A. Zavala-Río ◽  
V. Santibáñez ◽  
F. Reyes
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Experimental Results ◽  
Gravity Compensation ◽  
Adaptive Scheme ◽  
Adaptive Regulation ◽  
Control Scheme ◽  
Bounded Input ◽  
Adaptive Approaches ◽  
Adaptive Control Scheme

SUMMARYIn this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity compensation. Compared with the adaptive approaches previously developed in a bounded-input context, the proposed scheme guarantees the adaptive regulation objective: globally, avoiding discontinuities in the control expression as well as in the adaptation auxiliary dynamics, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Experimental results corroborate the efficiency of the proposed adaptive scheme.

An Adaptive Control Scheme for Mechanical Manipulators—Compensation of Nonlinearity and Decoupling Control

1986 ◽  
Vol 108 (2) ◽  
pp. 127-135 ◽  
Author(s):  
Roberto Horowitz ◽  
Masayoshi Tomizuka
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Adaptive Controller ◽  
Fundamental Properties ◽  
Integral Action ◽  
Control Scheme ◽  
Mechanical Manipulators ◽  
Nonlinear Compensator ◽  
Manipulator Control ◽  
Adaptive Control Scheme

This paper presents a new adaptive control scheme for mechanical manipulators. Making use of the fundamental properties of the manipulator equations, an adaptive algorithm is developed for compensating a nonlinear term in the dynamic equations and for decoupling the dynamic interaction among the joints. A computer simulation study is conducted to evaluate the performance of a manipulator control system composed of the manipulator, adaptive nonlinear compensator/decoupling controller and state feedback controller with integral action. Simulation results show that the manipulator control system with adaptive controller is insensitive to variations of manipulator configurations and payload.

An Robust Adaptive Control Scheme for Hydraulic Servo Systems

2006 ◽  
Author(s):  
Torben Ole Andersen ◽  
Michael Ryygaard Hansen
Keyword(s):  
Adaptive Control ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Region Of Attraction ◽  
Control Scheme ◽  
Whole Space ◽  
Bounded Disturbances ◽  
Robust Adaptive ◽  
Adaptive Control Scheme

The paper looks into Model Reference Adaptive Control (MRAC) based on a linear plant model with constant or slowly varying parameters. The actual plant is non-linear, of a higher model order, subjected to time-varying bounded disturbances, and the measured values may be corrupted by noise. These problems are explored and the adaptive algorithms are modified to counteract instability mechanisms and for improved robustness with respect to bounded disturbances and non-modeled dynamics. The adaptive controller identifies the dominant dynamics and uses feedforward to provide anticipative actions in tracing task while an adaptive feedback part stabilizes the tracking error dynamics. Also the effects of non-modeled high frequency dynamics and bounded disturbances on stability and performance are analyzed. The adaptive control scheme is robust in the sense that it guarantees the existence of a large region of attraction from which all the trajectories remain bounded. The size of the region of attraction depends on the non-modeled dynamics in such a way that if the non-modeled dynamics is infinitely fast, the region of attraction becomes the whole space. Simulation and experimental results are presented and discussed to demonstrate the strength of the proposed algorithm.

scholarly journals A L1 Adaptive Control Scheme for UAV Carrier Landing Using Nonlinear Dynamic Inversion

2019 ◽  
Vol 2019 ◽  
pp. 1-8 ◽  
Author(s):  
Ke Lu ◽  
Chunsheng Liu
Keyword(s):  
Adaptive Control ◽  
Nonlinear Dynamic ◽  
Adaptive Controller ◽  
Dynamic Inversion ◽  
Model Inversion ◽  
L1 Adaptive Control ◽  
Control Scheme ◽  
Glide Slope ◽  
Adaptive Control Scheme ◽  
Nonlinear Dynamic Inversion

This paper presents a L1 adaptive controller augmenting a dynamic inversion controller for UAV (unmanned aerial vehicle) carrier landing. A three axis and a power compensator NDI (nonlinear dynamic inversion) controller serves as the baseline controller for this architecture. The inner-loop command inputs are roll-rate, pitch-rate, yaw-rate, and thrust commands. The outer-loop command inputs come from the guidance law to correct the glide slope. However, imperfect model inversion and nonaccurate aerodynamic data may cause degradation of performance and may lead to the failure of the carrier landing. The L1 adaptive controller is designed as augmentation controller to account for matched and unmatched system uncertainties. The performance of the controller is examined through a Monte Carlo simulation which shows the effectiveness of the developed L1 adaptive control scheme based on nonlinear dynamic inversion.

scholarly journals Adaptive Task-Space Manipulator Control with Parametric Uncertainties in Kinematics and Dynamics

2020 ◽  
Vol 10 (24) ◽  
pp. 8806
Author(s):  
Chih-Chen Yih ◽  
Shih-Jeh Wu
Keyword(s):  
Adaptive Control ◽  
Joint Space ◽  
Design Parameters ◽  
Kinematics And Dynamics ◽  
Parametric Uncertainties ◽  
Task Space ◽  
Estimation Errors ◽  
Barbalat’S Lemma ◽  
Control Scheme ◽  
Adaptive Control Scheme

This paper aims to deal with the problem of robot tracking control in the presence of parametric uncertainties in kinematics and dynamics. We propose a simple and effective adaptive control scheme that includes adaptation laws for unknown constant kinematic and dynamic parameters. In addition, instead of convolution-type filtered differentiation, we designed a new observer to estimate velocity in the task space, and the proposed adaptive control requires no acceleration measurement in the joint space. Using the Lyapunov stability and Barbalat’s lemma, we show that by appropriately choosing design parameters, the tracking errors and estimation errors in task space can asymptotically converge to zero. Through numerical simulation on a two-link robot with a fixed camera, we illustrate the design procedures and demonstrate the feasibility of the proposed adaptive control scheme for the trajectory tracking of robot manipulators.

L1 adaptive control design of a helicopter in vertical flight

2020 ◽  
Vol 234 (14) ◽  
pp. 2089-2099
Author(s):  
Song Tian ◽  
Jiang Wang ◽  
Defu Lin ◽  
Pei Pei
Keyword(s):  
Adaptive Control ◽  
Flight Control ◽  
Control Design ◽  
Adaptive Controller ◽  
Piecewise Constant ◽  
L1 Adaptive Control ◽  
Control Scheme ◽  
Practical Engineering ◽  
Adaptation Law ◽  
Adaptive Control Scheme

This article presents L1 adaptive control scheme for vertical flight control of helicopter. Linear controller is designed as baseline controller to provide preliminary improvement in performance and robustness. Considering the existence of uncertainties and disturbances, we propose L1 adaptive controller with modified piecewise constant adaptation law to augment the baseline controllers. Further, the proposed L1 adaptive controller can be implemented without any modification of the baseline controller. Benefit from this, the design of the entire control system is significantly simplified, and the designed controller is easy to apply to practical engineering. The simulation results indicate that the proposed controllers have good performance for helicopter vertical flight in the presence of uncertainties and disturbances.

Speed Control of Hydraulic Press via Adaptive Back-Stepping

2010 ◽  
Vol 40-41 ◽  
pp. 46-51
Author(s):  
Chang Bin Li ◽  
Ai Guo Wu ◽  
Chun Yan Du
Keyword(s):  
Mathematical Model ◽  
Adaptive Control ◽  
Speed Control ◽  
Adaptive Controller ◽  
Hydraulic Press ◽  
Speed Controller ◽  
Control Scheme ◽  
Simulation Results ◽  
The Mathematical Model ◽  
Adaptive Control Scheme

This paper is concerned with speed control of hydraulic press system. First, the mathematical model of hydraulic press is derived from its physical characteristics. Then, based on this model, the so-called back-stepping approach is used to design a speed controller. Moreover, in order to overcome the unknown deformation resistance and some other resistance, an adaptive control scheme is introduced to this controller. Finally, a real hydraulic press model is used to validate the proposed method. Simulation results show that the adaptive controller deals with the nonlinearity effectively, and the tracking performance of the system is good.

Adaptive Virtual Autobalancing for a Magnetic Rotor With Unknown Mass Imbalance: Part I — Static Balancing

1995 ◽  
Author(s):  
Kai-Yew Lum ◽  
Sanjay P. Bhat ◽  
Dennis S. Bernstein ◽  
Vincent T. Coppola
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Control Algorithm ◽  
Equations Of Motion ◽  
Adaptive Controller ◽  
Magnetic Bearing ◽  
Static Balancing ◽  
Mass Imbalance ◽  
Control Scheme ◽  
Adaptive Control Scheme

Abstract An adaptive control scheme is proposed for stabilizing a planar rotor mounted on a magnetic bearing. The control strategy involves the concept of virtual autobalancing, where the control algorithm emulates the dynamics of a mechanical autobalancer by applying forces that are equivalent to the action of the autobalancer on the rotor. Equations of motion for a planar, torque-free, elastically suspended rotor equipped with an autobalancer are derived. Based on these equations, an adaptive controller for the magnetic rotor is formulated. The results are demonstrated in simulation.

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