Passivity Based Backstepping Control for Trajectory Tracking Using a Hydraulic Transformer

2015 ◽  
Author(s):  
Sangyoon Lee ◽  
Perry Y. Li
Keyword(s):  
Trajectory Tracking ◽  
Good Control ◽  
Hydraulic Systems ◽  
Hydraulic Actuator ◽  
Nonlinear Controller ◽  
Control Approach ◽  
Displacement Pump ◽  
Trajectory Tracking Controller ◽  
Regenerative Energy ◽  
Common Pressure Rail

Throttling loss is a major contributor to the low system efficiency in hydraulic systems. Hydraulic transformers can potentially be an energy efficient, throttle-less control approach for multi-actuators systems powered by a common pressure rail (CPR). The transformer transforms the input CPR pressure to the desired pressure of the actuator instead of throttling it. Regenerative energy can also be captured. For transformers to be useful, they must also have good control performance. This paper presents a a passivity based trajectory tracking controller for a hydraulic actuator driven by a transformer consisting of two mechanically coupled variable displacement pump/motors. In addition to controlling the motion of the actuator, the transformer speed can also be regulated at the most efficient operating speed. The nonlinear controller is designed using a Lyapunov function that is based upon a recently discovered natural energy storage function for hydraulic actuators. Experimental results validate the efficacy of this controller.

On/Off Valve Based Position Control of a Hydraulic Cylinder

2007 ◽  
Author(s):  
Michael B. Rannow ◽  
Perry Y. Li
Keyword(s):  
Position Control ◽  
Hydraulic Cylinder ◽  
Conventional Technique ◽  
Hydraulic Systems ◽  
Hydraulic Actuator ◽  
Nonlinear Controller ◽  
Displacement Pump ◽  
Variable Displacement ◽  
Averaged Model ◽  
Valve Control

A method of precisely controlling the position of a hydraulic actuator using an on/off valve is developed. Since valves exhibit little power loss when they are fully open or fully closed, the proposed system is more efficient than throttling valve control and can achieve flow variation without the expense or bulk of a variable displacement pump. Mating a pulse-width-modulated (PWMed) on/off valve with a fixed displacement pump and a smoothing accumulator creates a software enabled variable displacement pump. A drawback of using digital valve control for hydraulic systems is that the relatively low speed of the currently available switching valves results in a significant ripple in the pressure and flow rate. We propose a solution to this problem by using a throttling valve to shield the actuator from the ripple in the output. This creates an effective load sensing system with the throttling valve used only to provide a small known pressure drop between the supply and the load. This approach is significantly more efficient than the conventional technique of using throttling to vary the full flow. This paper presents an averaged model of the system, a nonlinear controller to achieve position control of an actuator and a simulation based study of the effectiveness of the controller.

Dynamics Modeling and Trajectory Tracking Control of a Quadrotor Unmanned Aerial Vehicle

2016 ◽  
Vol 139 (2) ◽  
Author(s):  
Xilun Ding ◽  
Xueqiang Wang ◽  
Yushu Yu ◽  
Changliu Zha
Keyword(s):  
Trajectory Tracking ◽  
Translational Motion ◽  
Euler Method ◽  
Dynamics Modeling ◽  
Nonlinear Controller ◽  
Aerial Surveillance ◽  
Trajectory Tracking Control ◽  
Academic Field ◽  
Control Approach ◽  
Quadrotor System

Nowadays, the quadrotor is becoming a popular platform in the academic field and the commercial area. Many prototypes have been developed for different applications. In this paper, we present the design and development of a quadrotor system with the function of aerial surveillance for trajectory tracking. Kinematics and dynamics models of the quadrotor are given by Newton–Euler method. A nonlinear controller based on trajectory linearization control approach is designed to stabilize the quadrotor. This controller is divided into two parts as the guidance controller and the attitude controller, which control the translational motion and rotational motion, respectively. A quadrotor prototype is developed to implement the controller. A control strategy is provided for the autonomous flight with procedures of mission planning, trajectory generation, control, and hardware. Simulation tests are used to validate the robustness and the performance of the controller. Several flight experiments have been implemented outdoors. The simulation and experimental results show that the proposed controller performs well in trajectory tracking mission, and the appointed functions of this quadrotor system also work well.

A trajectory tracking controller with dynamic gains for mobile robots

2011 ◽  
Author(s):  
Cassius Z. Resende ◽  
F. Espinosa ◽  
I. Bravo ◽  
Mario Sarcinelli-Filho ◽  
Teodiano F. Bastos-Filho
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

Real-time trajectory tracking control of Stewart platform using fractional order fuzzy PID controller optimized by particle swarm algorithm

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zafer Bingul ◽  
Oguzhan Karahan
Keyword(s):  
Dynamic Model ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Fuzzy Pid ◽  
Simulation Environment ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Control Approach ◽  
Coupling Dynamic

Purpose The purpose of this paper is to address a fractional order fuzzy PID (FOFPID) control approach for solving the problem of enhancing high precision tracking performance and robustness against to different reference trajectories of a 6-DOF Stewart Platform (SP) in joint space. Design/methodology/approach For the optimal design of the proposed control approach, tuning of the controller parameters including membership functions and input-output scaling factors along with the fractional order rate of error and fractional order integral of control signal is tuned with off-line by using particle swarm optimization (PSO) algorithm. For achieving this off-line optimization in the simulation environment, very accurate dynamic model of SP which has more complicated dynamical characteristics is required. Therefore, the coupling dynamic model of multi-rigid-body system is developed by Lagrange-Euler approach. For completeness, the mathematical model of the actuators is established and integrated with the dynamic model of SP mechanical system to state electromechanical coupling dynamic model. To study the validness of the proposed FOFPID controller, using this accurate dynamic model of the SP, other published control approaches such as the PID control, FOPID control and fuzzy PID control are also optimized with PSO in simulation environment. To compare trajectory tracking performance and effectiveness of the tuned controllers, the real time validation trajectory tracking experiments are conducted using the experimental setup of the SP by applying the optimum parameters of the controllers. The credibility of the results obtained with the controllers tuned in simulation environment is examined using statistical analysis. Findings The experimental results clearly demonstrate that the proposed optimal FOFPID controller can improve the control performance and reduce reference trajectory tracking errors of the SP. Also, the proposed PSO optimized FOFPID control strategy outperforms other control schemes in terms of the different difficulty levels of the given trajectories. Originality/value To the best of the authors’ knowledge, such a motion controller incorporating the fractional order approach to the fuzzy is first time applied in trajectory tracking control of SP.

Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1551-1570 ◽  
Author(s):  
Hossein Mirzaeinejad ◽  
Ali Mohammad Shafei
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Tracking Accuracy ◽  
Wheeled Mobile Robots ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
Control Laws ◽  
Control Approach ◽  
Prediction Time

SUMMARYThis study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers.

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