Adaptive Trajectory Tracking Control of Nanopositioning Stage Under Dynamic Load Condition

2009 ◽  
Author(s):  
Mohammad Sheikh Sofla ◽  
Seyed Mehdi Rezaei ◽  
Mohammad Zareinejad
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Load ◽  
Tracking Control ◽  
Nonlinear Function ◽  
Load Condition ◽  
Piezoelectric Actuators ◽  
Trajectory Tracking Control ◽  
Control Approach ◽  
Practical Applications ◽  
Hysteresis Nonlinearity

Piezoelectric actuators (PEAs) are frequently used in a wide variety of micromanipulation systems. However their accuracy is limited due to hysteresis nonlinearity. Also investigation of the fundamental properties of the piezoceramics depicts that external mechanical loads cause inclination in hysteresis loop which can deteriorate tracking performance furthermore. A novel modeling and control approach is proposed in this paper, for precision trajectory tracking control of piezoelectric actuators under dynamic load condition. First the hysteresis nonlinear function based on Bouc-Wen hysteresis model is approximated by a Taylor series expansion. Then an adaptive trajectory tracking control is proposed based on the backstepping method using the developed mathematical model. The asymptotical stability in displacement tracking and robustness to the dynamic load disturbance can be provided using the proposed control approach. Experimental results are illustrated to verify the efficiency of the proposed method for practical applications.

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.

Adaptive Integral Base Sliding Mode Tracking Control of Piezoelectric Actuators

2009 ◽  
Author(s):  
Mohammad Sheikh Sofla ◽  
Seyed Mehdi Rezaei ◽  
Mohammad Zareinejad
Keyword(s):  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Uncertain System ◽  
Hysteretic Behavior ◽  
Control Approach ◽  
Practical Applications ◽  
Hysteresis Nonlinearity ◽  
Control Scheme ◽  
Integral Sliding Surface ◽  
Control Methodology

This paper presents an adaptive integral sliding mode control scheme for precise trajectory tracking of piezoelectric actuators (PEAs). This control methodology is proposed considering the problems of unknown or uncertain system parameters, hysteresis nonlinearity, and external load disturbances. The hysteretic behavior is represented by Bouc–Wen hysteresis model. It is shown that the nonlinear response of the model due to the hysteresis effect, acts as a bounded disturbance. Then base on this fact an adaptive robust controller is proposed, where an integral sliding surface is utilized to achieve the desired tracking performance. By using the proposed control approach the asymptotical stability in displacement tracking and robustness to the dynamic load disturbance can be provided. Finally, Experimental results are illustrated to verify the efficiency of the proposed method for tracking in various range of frequency and load which are common in practical applications.

scholarly journals Discrete-time predictive trajectory tracking control for nonholonomic mobile robots with obstacle avoidance

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987731
Author(s):  
Jingjun Zhang ◽  
Shaobo Zhang ◽  
Ruizhen Gao
Keyword(s):  
Obstacle Avoidance ◽  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Law ◽  
Nonholonomic Mobile Robots ◽  
Trajectory Tracking Control ◽  
Time Model ◽  
Control Approach ◽  
Avoidance Control

This article presents a tracking control approach with obstacle avoidance for a mobile robot. The control law is composed of two parts. The first is a discrete-time model predictive method-based trajectory tracking control law that is derived using an optimal quadratic algorithm. The second part is the obstacle avoidance strategies that switch according to two different designed obstacle avoidance regions. The controllability of the avoidance control law is analyzed. The simulation results validate the effectiveness of the proposed control law considering both trajectory tracking and obstacle avoidance.

Curve-constrained collision-free trajectory control of hyper-redundant planar space robot

2017 ◽  
Vol 231 (4) ◽  
pp. 282-298 ◽  
Author(s):  
Vijay Kumar Dalla ◽  
Pushparaj Mani Pathak
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Space Robot ◽  
Redundancy Resolution ◽  
Trajectory Tracking Control ◽  
Planar Space ◽  
Control Approach ◽  
Control Purpose

Redundancy resolution in a hyper-redundant space robots is a big challenge due to its extra degrees of freedom. This article presents a methodology to control motion planning of a planar space robot with multiple links, that is, hyper-redundant space robot. For control purpose, first a curve-constrained link trajectory tracking control has been developed. Then, the developed control approach has been extended for a collision-free trajectory tracking. For curve-constrained link trajectory tracking control, the backbone reference set (curve fitting) has been applied to exploit the redundancy of two-dimensional space robot of multiple links. For kinematic control purpose, a limited number of joints are actuated. The hyper-redundant space robot has the advantage that manipulator can be configured differently through actuation of different joints. The concept of a limited number of joint actuation has further been extended for collision-free trajectory tracking in the workspace in the presence of obstacles. Collision avoidance is based on the configuration transformation approach where the joints are made active or fixed joint position to facilitate collision-free tip trajectory. Before configuration transformation, collision detection has been performed based on the pseudo-distance criterion. The bond graph technique has been used for the dynamic model of the system and to formulate system equations. The simulation and the animation results validated the successful execution of the proposed approaches for the curve-constrained collision-free trajectory planning.

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