Decentralized Exergy/Entropy Thermodynamic Control for Collective Robotic Systems

2007 ◽  
Author(s):  
Rush D. Robinett ◽  
David G. Wilson
Keyword(s):  
Decentralized Control ◽  
Direct Method ◽  
Robotic Systems ◽  
Control Law ◽  
Thermodynamic Control ◽  
Order Accuracy ◽  
Control Laws ◽  
Vector Lyapunov Function ◽  
Collective Control ◽  
Plume Tracing

This paper develops a distributed decentralized control law for collective robotic systems. The control laws are developed based on exergy/entropy thermodynamic concepts and information theory. The source field is characterized through second-order accuracy. The proposed feedback control law stability for both the collective and individual robots are demonstrated by selecting a general Hamiltonian based solution developed as Fisher Information Equivalency as the vector Lyapunov function. Stability boundaries and system performance are then determined with Lyapunov’s direct method. A robot collective plume tracing numerical simulation example demonstrates this decentralized exergy/entropy collective control architecture.

scholarly journals Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

2011 ◽  
Vol 2011 ◽  
pp. 1-10 ◽  
Author(s):  
Yassine Bouteraa ◽  
Jawhar Ghommam ◽  
Gérard Poisson ◽  
Nabil Derbel
Keyword(s):  
Decentralized Control ◽  
Information Exchange ◽  
Robot Manipulators ◽  
Direct Method ◽  
Functional Method ◽  
Consensus Algorithm ◽  
Adaptive Synchronization ◽  
Synchronization Control ◽  
Control Law ◽  
Parameter Uncertainties

This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.

Robust Trajectory Following Control of Robotic Systems

1985 ◽  
Vol 107 (4) ◽  
pp. 308-315 ◽  
Author(s):  
S. N. Singh ◽  
A. A. Schy
Keyword(s):  
Degrees Of Freedom ◽  
Digital Simulation ◽  
Robotic Systems ◽  
Control Law ◽  
Robot Arm ◽  
Control Laws ◽  
Payload Uncertainty ◽  
Trajectory Following ◽  
And Control ◽  
Three Degrees Of Freedom

Using an inversion approach we derive a control law for trajectory following of robotic systems. A servocompensator is used around the inner decoupled loop for robustness to uncertainty in the system. These results are applied to trajectory control of a three-degrees-of-freedom robot arm and control laws Cθ and CH for joint angle and position trajectory following, respectively, are derived. Digital simulation results are presented to show the rapid trajectory following capability of the controller in spite of payload uncertainty.

Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation

Robotica ◽  
2016 ◽  
Vol 35 (8) ◽  
pp. 1732-1746 ◽  
Author(s):  
Loris Roveda ◽  
Nicola Pedrocchi ◽  
Federico Vicentini ◽  
Lorenzo Molinari Tosatti
Keyword(s):  
Closed Loop ◽  
Control Law ◽  
Light Weight ◽  
Mobile Platforms ◽  
Control Laws ◽  
Assembly Task ◽  
Base Position ◽  
Force Tracking ◽  
Compliant Robot ◽  
Target Force

SUMMARYLight-weight manipulators are used in industrial tasks mounted on mobile platforms to improve flexibility. However, such mountings introduce compliance affecting the tasks. This work deals with such scenarios by designing a controller that also takes into account compliant environments. The controller allows the tracking of a target force using the estimation of the environment stiffness (EKF) and the estimation of the base position (KF), compensating the robot base deformation. The closed-loop stability has been analyzed. Observers and the control law have been validated in experiments. An assembly task is considered with a standard industrial non-actuated mobile platform. Control laws with and without base compensation are compared.

Active control of flexible one-link manipulators using wavelet networks

Robotica ◽  
2013 ◽  
Vol 31 (8) ◽  
pp. 1275-1283 ◽  
Author(s):  
V. I. Gervini ◽  
E. M. Hemerly ◽  
S. C. P. Gomes
Keyword(s):  
Dead Zone ◽  
Flexible Manipulator ◽  
Friction Compensation ◽  
Control Law ◽  
Wavelet Network ◽  
Stick Slip ◽  
Control Laws ◽  
Operational Conditions ◽  
Structure Control ◽  
Wavelet Networks

SUMMARYThe design of control laws for flexible manipulators is known to be a challenging problem, when using a conventional actuator, i.e., a motor with gear. This is due to the friction of the nonlinear actuator, which causes torque dead zone and stick-slip behavior, thereby hampering the good performance of the control system. The torque needed to attenuate the vibrations, although calculated by the control law, is consumed by the friction inside the actuator, rendering it ineffective to the flexible structure control. Nonlinear friction varies with different operational conditions of the actuator and a friction compensation mechanism based on these models cannot always keep a good performance. This study proposes a new control strategy using wavelet network to friction compensation. Experimental results obtained with a flexible manipulator attest to the good performance of the proposed control law.

Scheduling Strategy of Multiple Semi-Active Controllers With Information on the Disturbance and the Structural Response

2016 ◽  
Author(s):  
Kazuhiko Hiramoto ◽  
Taichi Matsuoka ◽  
Katsuaki Sunakoda
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Active Control ◽  
Structural Response ◽  
Design Parameters ◽  
Control Law ◽  
Control Performance ◽  
Multiple Control ◽  
Control Laws ◽  
Scheduling Strategy

A scheduling strategy of multiple semi-active control laws for various earthquake disturbances is proposed to maximize the control performance. Generally, the semi-active controller for a given structural system is designed as a single control law and the single control law is used for all the forthcoming earthquake disturbances. It means that the general semi-active control should be designed to achieve a certain degree of the control performance for all the assumed disturbances with various time and/or frequency characteristics. Such requirement on the performance robustness becomes a constraint to obtain the optimal control performance. We propose a scheduling strategy of multiple semi-active control laws. Each semi-active control law is designed to achieve the optimal performance for a single earthquake disturbance. Such optimal control laws are scheduled with the available data in the control system. As the scheduling mechanism of the multiple control laws, a command signal generator (CSG) is defined in the control system. An artificial neural network (ANN) is adopted as the CSG. The ANN-based CSG works as an interpolator of the multiple control laws. Design parameters in the CSG are optimized with the genetic algorithm (GA). Simulation study shows the effectiveness of the approach.

scholarly journals Feedback Linearization Control of the Inertia Wheel Pendulum

2014 ◽  
Vol 14 (3) ◽  
pp. 96-109 ◽  
Author(s):  
Faculty of Automatics, Technical Un Enev
Keyword(s):  
Feedback Linearization ◽  
Wheel Speed ◽  
Control Law ◽  
Test Bed ◽  
Control Laws ◽  
Full State ◽  
Feedback Linearization Control ◽  
System Output ◽  
Inertia Wheel Pendulum ◽  
Definition Of

Abstract In this paper, two feedback linearizing control laws for the stabilization of the Inertia Wheel Pendulum are derived: a full-state linearizing controller, generalizing the existing results in literature, with friction ignored in the description and an inputoutput linearizing control law, based on a physically motivated definition of the system output. Experiments are carried out on a laboratory test bed with significant friction in order to test and verify the suggested performance and the results are presented and discussed. The main point to be made as a consequence of the experimental evaluation is the fact that actually the asymptotic stabilization was not achieved, but rather a limit cycling behavior was observed for the full-state linearizing controller. The input-output linearizing controller was able to drive the pendulum to the origin, with the wheel speed settling at a finite value

An approach towards decentralized control of cooperating non-autonomous multiple robots

Robotica ◽  
2000 ◽  
Vol 18 (5) ◽  
pp. 495-504 ◽  
Author(s):  
Khalid Munawar ◽  
Masayoshi Esashi ◽  
Masaru Uchiyama
Keyword(s):  
Decentralized Control ◽  
Degrees Of Freedom ◽  
Real Life ◽  
Robotic Systems ◽  
Present System ◽  
Multiple Robots ◽  
Experimental Implementation ◽  
Control Scheme ◽  
The Common ◽  
Event Based

This paper introduces an event-based decentralized control scheme for the cooperation between multiple manipulators. This is in contrast to the common practice of using only centralized controls for such cooperation which, consequently, greatly limit the flexibility of robotic systems. The manipulators used in the present system are very simple with only two degrees of freedom, while even one of them is passive. Moreover these manipulators use very few and commonly available sensors only. Computer simulations indicated the applicability of the event-based decentralized control scheme for multi-manipulator cooperation, while real-life experimental implementation has proved that the proposed decentralized control scheme is fairly applicable for very simple and even under-actuated systems too. Hence, this work has opened new doors towards further research in this area. The proposed control scheme is expected to be equally applicable for any mobile or immobile multi-robotic system.

scholarly journals State Transfer via On-Line State Estimation and Lyapunov-Based Feedback Control for a N-Qubit System

Entropy ◽  
2019 ◽  
Vol 21 (8) ◽  
pp. 751 ◽  
Author(s):  
Sajede Harraz ◽  
Shuang Cong
Keyword(s):  
Feedback Control ◽  
State Estimation ◽  
Open Quantum Systems ◽  
State Feedback Control ◽  
Quantum Master Equation ◽  
Control Law ◽  
Control Laws ◽  
Quantum State Estimation ◽  
State Transfer ◽  
On Line

In this paper, we propose a Lyapunov-based state feedback control for state transfer based on the on-line quantum state estimation (OQSE). The OQSE is designed based on continuous weak measurements and compressed sensing. The controlled system is described by quantum master equation for open quantum systems, and the continuous measurement operators are derived according to the dynamic equation of system. The feedback control law is designed based on the Lyapunov stability theorem, and a strict proof of proposed control laws are given. At each sampling time, the state is estimated on-line, which is used to design the control law. The simulation experimental results show the effectiveness of the proposed feedback control strategy.

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