scholarly journals Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Haiqiang Zhang ◽  
Hairong Fang ◽  
Dan Zhang ◽  
Qi Zou ◽  
Xueling Luo
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Parallel Mechanism ◽  
Dynamic Models ◽  
Control Method ◽  
Hybrid Control ◽  
Virtual Work ◽  
Redundant Actuation ◽  
Trajectory Tracking Control ◽  
Control Scheme

Parallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages. In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the combination of inertia feed-forward control and back propagation (BP) neural network PID control is proposed. The dynamic models including the joint space and task space are formulated explicitly in efficient and compact form by means of the principle of virtual work and d’Alembert formulations. The force/position hybrid control is implemented to perform trajectory tracking and optimize the driving force configuration in MATLAB/Simulink environment, before being applied to an actual parallel mechanism. The illustrative simulation results demonstrate that the force/position hybrid control scheme is available to provide good trajectory tracking performance. Simultaneously, the feasibility of the proposed control scheme is verified by comparison analysis with the aforementioned conventional control method.

scholarly journals Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

Actuators ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 222
Author(s):  
Xiaoshan Gao ◽  
Liang Yan ◽  
Chris Gerada
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Dynamic Models ◽  
Nonholonomic Constraints ◽  
Disturbance Attenuation ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Control Scheme

Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task. This paper investigates the trajectory tracking control problem of WMRs via disturbance rejection in the presence of wheel skidding and slipping phenomena. The kinematic and dynamic models with the perturbed nonholonomic constraints are established. The trajectory tracking control scheme at the dynamic level is designed so that the mobile robot system can track the virtual velocity asymptotically, and counteract the perturbation caused by the unknown skidding and slipping of wheels. Both simulation and experimental works are conducted, and the results prove the performance of the proposed control scheme is effective in terms of tracking precision and disturbance attenuation.

A Novel Trajectory Tracking Control Method for a Nonholonomic Mobile Robot with System Uncertainties and Disturbances

2013 ◽  
Vol 823 ◽  
pp. 193-198
Author(s):  
Run Zhou Zhao ◽  
Xi Zheng Zhang ◽  
Cai Hong Shi ◽  
Wei Chen
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
Hybrid Control ◽  
Kinematic Model ◽  
Network Dynamic ◽  
Trajectory Tracking Control ◽  
Dynamic Controller ◽  
Control Scheme ◽  
System Uncertainties ◽  
The Stability

This paper focuses on the trajectory tracking problem of mobile robots with system uncertainties and disturbances. With the integration of a kinematic controller and a dynamic controller, a hybrid control method is presented. Firstly, an adaptive kinematic controller is proposed through the kinematic model and backstepping method. Secondly, a neural network dynamic controller is proposed, with the consideration of system uncertainties and disturbances. The stability of the proposed control scheme is verified via the Lyapunov method and Barbalat lemma. Finally, results of circular trajectory simulation have illustrated the effectiveness of the present control scheme.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator

2011 ◽  
Vol 328-330 ◽  
pp. 2108-2112
Author(s):  
Jing Shuang Lu ◽  
Chun Mei Du ◽  
Rui Zhou ◽  
Na Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Vertical Plane ◽  
Flexible Manipulator ◽  
System Model ◽  
Error Signal ◽  
Dynamics Model ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
Simulation Results

A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.

Dynamic trajectory-tracking control method of robotic transcranial magnetic stimulation with end-effector gravity compensation based on force sensors

2018 ◽  
Vol 45 (6) ◽  
pp. 722-731
Author(s):  
ZeCai Lin ◽  
Wang Xin ◽  
Jian Yang ◽  
Zhang QingPei ◽  
Lu ZongJie
Keyword(s):  
Neural Networks ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Magnetic Stimulation ◽  
Control Method ◽  
Gravity Compensation ◽  
Trajectory Tracking Control ◽  
End Effector ◽  
Content Type ◽  
Dynamic Trajectory

Purpose This paper aims to propose a dynamic trajectory-tracking control method for robotic transcranial magnetic stimulation (TMS), based on force sensors, which follows the dynamic movement of the patient’s head during treatment. Design/methodology/approach First, end-effector gravity compensation methods based on kinematics and back-propagation (BP) neural networks are presented and compared. Second, a dynamic trajectory-tracking method is tested using force/position hybrid control. Finally, an adaptive proportional-derivative (PD) controller is adopted to make pose corrections. All the methods are designed for robotic TMS systems. Findings The gravity compensation method, based on BP neural networks for end-effectors, is proposed due to the different zero drifts in different sensors’ postures, modeling errors in the kinematics and the effects of other uncertain factors on the accuracy of gravity compensation. Results indicate that accuracy is improved using this method and the computing load is significantly reduced. The pose correction of the robotic manipulator can be achieved using an adaptive PD hybrid force/position controller. Originality/value A BP neural network-based gravity compensation method is developed and compared with traditional kinematic methods. The adaptive PD control strategy is designed to make the necessary pose corrections more effectively. The proposed methods are verified on a robotic TMS system. Experimental results indicate that the system is effective and flexible for the dynamic trajectory-tracking control of manipulator applications.

Prescribed performance trajectory tracking control of dynamic positioning ship under input saturation

2020 ◽  
pp. 014233122092888
Author(s):  
Yuanhui Wang ◽  
Haibin Wang ◽  
Mingyu Fu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Input Saturation ◽  
Small Neighborhood ◽  
Performance Criteria ◽  
Dynamic Positioning ◽  
Trajectory Tracking Control ◽  
Prescribed Performance ◽  
Control Scheme

This paper investigates concentrates on the trajectory tracking control problem of dynamic positioning (DP) ship, in the presence of the time-varying disturbance and input saturation. Firstly, a simplified mathematical model of three degrees of freedom is established. According to the characteristics of the DP ship, an adaptive backstepping controller which combine the prescribed performance function with disturbance observer is proposed. The control scheme can guarantee the transient and steady state performance of the trajectory tracking and meet the prescribed performance criteria. In addition, an auxiliary dynamic system is introduced into the controller to deal with the input saturation problem of the actuator, so that the DP ship can accomplish the task of trajectory tracking under the condition of actuator constraint. Subsequently, in combination of barrier Lyapunov function (BLF), it is proved that the DP system can stabilize and converge rapidly to the small neighborhood of the equilibrium point, which can achieve the prescribed performance. Finally, the effectiveness of the DP control law is demonstrated by a series of simulation experiments.

Dynamic modeling and trajectory tracking control method of segmented linkage cable-driven hyper-redundant robot

2020 ◽  
Vol 101 (1) ◽  
pp. 233-253
Author(s):  
Jianqing Peng ◽  
Wenfu Xu ◽  
Taiwei Yang ◽  
Zhonghua Hu ◽  
Bin Liang
Keyword(s):  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Tracking Control ◽  
Redundant Robot

Group Control of Mobile Robots for More Efficient Searches – Verification of Semi-Autonomous Trajectory Tracking Motions in Irregular Ground Environment –

2018 ◽  
Vol 30 (6) ◽  
pp. 980-990
Author(s):  
Yoshikazu Ohtsubo ◽  
Morihito Matsuyama ◽  
◽  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Potential Method ◽  
Gravity Potential ◽  
Trajectory Tracking Control ◽  
Robot Operating System ◽  
Uneven Terrain ◽  
Disaster Area ◽  
Autonomous Search

After the occurrence of a disaster, it is critical to perform rapid and accurate searching operations in the large disaster area. It is efficient to perform such operations using multiple mobile exploration robots. Accordingly, we focus on cooperative cruising in a disaster environment and propose the trajectory tracking control method for a semi-autonomous search robot. We apply a robot operating system (ROS) to execute the trajectory tracking control using two mobile exploration robots. In this paper, we describe the trajectory tracking control using gravity potential method and the results of a cooperative cruising experiment in an uneven terrain environment.

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