scholarly journals Robust Hierarchical Control for Uncertain Multivariable Hexarotor Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Wei Lin ◽  
Hao Liu
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Load Capacity ◽  
Hierarchical Control ◽  
Tracking Errors ◽  
Robust Controller ◽  
External Disturbances ◽  
Loop Control ◽  
Control Scheme ◽  
Robust Controller Design

Multirotor helicopter attracts more attention due to its increased load capacity and being highly maneuverable. However, these helicopters are uncertain multivariable systems, which pose a challenge for their robust controller design. In this paper, a robust two-loop control scheme is proposed for a hexarotor system. The resulted controller consists of a nominal controller and a robust compensator. The robust compensators are added to restrain the influences of uncertainties such as nonlinear dynamics, coupling, parametric uncertainties, and external disturbances. It is proven that the tracking errors are ultimately bounded with specified boundaries by choosing the parameters of the robust compensators. Simulation results on the hexarotor demonstrate the effectiveness of the proposed control method.

Robust Controller Design for Robot Manipulators

1988 ◽  
Vol 110 (1) ◽  
pp. 94-96 ◽  
Author(s):  
T. Sugie ◽  
T. Yoshikawa ◽  
T. Ono
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Robot Manipulators ◽  
Degree Of Freedom ◽  
Robust Controller ◽  
Two Degree Of Freedom ◽  
Robust Controller Design

In this paper we give a control method for robot manipulators which takes account of both the command response and the robustness in a systematic way by utilizing two-degree-of-freedom controller configuration. A simulation result is given to show the validity of our method.

scholarly journals Adaptive Control for Pure-Feedback Nonlinear Systems Preceded by Asymmetric Hysteresis

Energies ◽  
2019 ◽  
Vol 12 (24) ◽  
pp. 4675 ◽  
Author(s):  
Xiaohuan Lai ◽  
Haipeng Pan ◽  
Xinlong Zhao
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Control Method ◽  
Controller Design ◽  
State Variables ◽  
External Disturbances ◽  
Hysteresis Nonlinearity ◽  
Control Scheme ◽  
Factor State ◽  
Asymmetric Factor

An adaptive control scheme is proposed for a class of uncertain pure-feedback nonlinear systems preceded by asymmetric hysteresis nonlinearity. The asymmetric property is described by the modified Bouc-Wen model based on the proposed asymmetric factor. State variables in the controller design are directly replaced with nonaffine functions to address the control problem caused by nonaffine appearance. Moreover, the control method can handle systems with external disturbances and guarantee the global stability of all the signals in the closed-loop system. The feasibility of the control scheme is verified by a simulation example and experimental results.

A Modified Homotopy Method and H∞ Robust Controller Design

2014 ◽  
Vol 39 (8) ◽  
pp. 1374-1380
Author(s):  
Bin LIU ◽  
Jiu-Qiang SUN ◽  
Zhi-Qiang ZHAI ◽  
Zhuo LI ◽  
Chang-Hong WANG
Keyword(s):  
Controller Design ◽  
Homotopy Method ◽  
Robust Controller ◽  
Robust Controller Design

scholarly journals Visual Tracking Control of Cable-Driven Hyper-Redundant Snake-Like Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 6224
Author(s):  
Qisong Zhou ◽  
Jianzhong Tang ◽  
Yong Nie ◽  
Zheng Chen ◽  
Long Qin
Keyword(s):  
Visual Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Adaptive Optimization ◽  
Tracking Errors ◽  
Kinematics Model ◽  
Compound Control ◽  
Original Intention ◽  
Control Scheme ◽  
Specific Geometry

The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists of numerous joint units connected adjacently driven by elastic materials with hyper-redundant DOF, performs flexible kinematic skills and competitive compound capability under complicated working circumstances. Nevertheless, the drawback of lacking the ability to perceive the environment to perform intelligently in complex scenarios leaves a lot to be improved, which is the original intention to introduce visual tracking feedback acting as an instructor. In this paper, a cable-driven snake-like robotic arm combined with a visual tracking technique is introduced. A visual tracking approach based on dual correlation filter is designed to guide the CHSM in detecting the target and tracing after its trajectory. Specifically, it contains an adaptive optimization for the scale variation of the tracking target via pyramid sampling. For the CHSM, an explicit kinematics model is derived from its specific geometry relationships and followed by a simplification for the inverse kinematics based on some assumption or limitation. A control scheme is brought up to combine the kinematics with visual tracking via the processing tracking errors. The experimental results with a practical prototype validate the availability of the proposed compound control method with the derived kinematics model.

Trade-Offs in Robust Controller Design

1992 ◽  
Author(s):  
J. Flgueroa ◽  
A. C. Desages ◽  
A. Palazoglu ◽  
J. A. Romagnoli
Keyword(s):  
Controller Design ◽  
Robust Controller ◽  
Trade Offs ◽  
Robust Controller Design
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