scholarly journals Time-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Yuming Huang ◽  
Weidong Chen ◽  
Minqiang Shao
Keyword(s):  
Time Delay ◽  
Feedback Control ◽  
Control Algorithm ◽  
Controller Design ◽  
Feedforward Control ◽  
Random Noise ◽  
Flexible Manipulator ◽  
Lagrange’S Equation ◽  
Single Link ◽  
Acceleration Feedback

The design problem of a discrete controller with time delay and acceleration feedback for a single-link flexible manipulator system is addressed in this paper. The dynamical model of a single-link flexible manipulator system is presented by the adoption of the finite element method and Lagrange’s equation. Based on the random-walk process and the discrete reduction method, an augmented discretized delay-free state derivate space equation containing the random noise is established. An acceleration-based Kalman filtering method is developed in order to estimate the system state and external excitation necessary for the controller design. In light of the estimated augmented states, a hybrid controller that combines a feedback control algorithm and a feedforward control algorithm is designed according to optimal control theory and Moore–Penrose theory. Numerical simulation results show that the proposed controller can damp out the vibration response of the flexible manipulator system effectively upon external excitations. Moreover, it is further revealed that the control performance of the presented method can be improved by adding the time delay appropriately.

Resonant Control of a Single-Link Flexible Manipulator

2014 ◽  
Vol 67 (5) ◽  
Author(s):  
Auwalu M. Abdullahi ◽  
Z. Mohamed ◽  
Marwan Nafea M.
Keyword(s):  
Feedback Control ◽  
Flexible Manipulator ◽  
Control Loop ◽  
Vibration Effect ◽  
System A ◽  
Resonant Modes ◽  
Single Link ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Resonant Control

This paper presents resonant control of a single-link flexible manipulator based on the resonant modes frequencies of the system. A flexible manipulator system is a single-input multi-output (SIMO) system with motor torque as an input and hub angle and the tip deflection as outputs. The previous system which is modeled using the finite element method is considered, and the resonant modes of the system are determined. Two negative feedback controllers are used to control the system. The inner feedback control loop designed using the resonant frequencies adds damping to the system and suppress the vibration effect around the hub angle. For the outer feedback control loop, a proportional integral controller is designed to achieve a zero steady state error so that a precise tip positioning can be achieved. Simulation results are presented and discussed to show the effectiveness of the resonant control scheme. 

Model-Based Feedforward Control of a Robotic Manipulator With Pneumatic Artificial Muscles

2012 ◽  
Author(s):  
Ryan M. Robinson ◽  
Norman M. Wereley ◽  
Curt S. Kothera
Keyword(s):  
Control Algorithm ◽  
Controller Design ◽  
Feedforward Control ◽  
Artificial Muscles ◽  
Specific Work ◽  
Pneumatic Actuators ◽  
Precise Control ◽  
Model Based ◽  
Pneumatic Artificial Muscles ◽  
Dynamics Simulations

Pneumatic artificial muscles (PAMs) are lightweight, flexible actuators capable of higher specific work than comparably-sized hydraulic actuators at the same pressure and electric motors. PAMs are composed of an elastomeric bladder surrounded by a helically braided sleeve. Lightweight, compliant actuators are particularly desirable in portable, heavy-lift robotic systems intended for interaction with humans, such as those envisioned for patient assistance in hospitals and battlefield casualty extraction. However, smooth and precise control remains difficult because of nonlinearities in the dynamic response. The objective of this paper is to develop a control algorithm that satisfies accuracy and smooth motion requirements for a two degree-of-freedom manipulator actuated by pneumatic artificial muscles and intended for interaction with humans, such as lifting a human. This control strategy must be capable of responding to large, abrupt variations in payload weight over a high range of motion. In previous work, the authors detailed the design and construction of a proof-of-concept PAM-based manipulator. The present work investigates the feasibility of combining output feedback using proportional-integral-derivative control or fuzzy logic control with model-based feedforward compensation to achieve improved closed-loop performance. The model upon which the controller is based incorporates the internal airflow dynamics, the geometric parameters of the pneumatic actuators, and the arm dynamics. Simulations were performed in order to validate the control algorithm, guide controller design, and predict optimal gains. Using real-time interface software and hardware, the controller was implemented and experimentally tested on the manipulator. Performance was evaluated for several trajectories, and different payload weights. The effect of varying the feedforward gain was also analyzed. Model refinement further improved performance.

Modelling of a single-link flexible manipulator system: theoretical and practical investigations

Robotica ◽  
1996 ◽  
Vol 14 (1) ◽  
pp. 91-102 ◽  
Author(s):  
M. O. Tokhi ◽  
A. K. M. Azad
Keyword(s):  
Expansion Method ◽  
Practical Investigations ◽  
Flexible Manipulator ◽  
Experimental Investigations ◽  
Model Parameters ◽  
Modal Expansion ◽  
Modal Expansion Method ◽  
Lagrange’S Equation ◽  
Equivalent Time ◽  
Single Link

SummaryThis paper presents theoretical and experimental investigations into modelling a single-link flexible manipulator system. An analytical model of the manipulator, characterised by an infinite number of modes, is developed using the Lagrange's equation and modal expansion method. This is used to develop equivalent time-domain and frequency-domain working models of the system in state-space and transfer function forms respectively. The model parameters are then estimated experimentally using system's measured input/output data. The model thus obtained is validated through experimentation and results including the effect of payload on system characteristics presented and discussed.

The Application of Implicit Generalized Predictive Self-Tuning Algorithm for Liquefied Natural Gas Storage Station

2011 ◽  
Vol 268-270 ◽  
pp. 458-461
Author(s):  
Ya Ting Deng ◽  
Wei Long ◽  
Shao Jie Sun
Keyword(s):  
Time Delay ◽  
Control Algorithm ◽  
Large Time ◽  
Random Noise ◽  
Gas Storage ◽  
Liquefied Natural Gas ◽  
Time Varying ◽  
Control Effect ◽  
Self Tuning ◽  
Actual Operation

The advanced implicit generalized predictive self-tuning control algorithm was used against those characteristics of the outlet’s gas pressure such as large-time delay, time varying, vulnerable to random noise and so on. Through the simulation, a good tracking performance was shown, and in the process of actual operation, it also achieved satisfactory control effect.

scholarly journals Attitude Control Algorithm for Free-Flying Space Robot (Cooperative Control of Feedforward and Feedback)

1994 ◽  
Vol 6 (3) ◽  
pp. 200-207
Author(s):  
Nobuyuki Kobayashi ◽  
◽  
Osamu Saito ◽  
Kenzo Nonami ◽  
Susumu Tohsya ◽  
...  
Keyword(s):  
Feedback Control ◽  
Attitude Control ◽  
Cooperative Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Space Robot ◽  
Main Body ◽  
Compensation Control ◽  
Flying Robot

An attitude control algorithm for a free-flying robot by the cooperative control of feedforward control and feedback control is proposed. The motion of a manipulator on a space robot causes the attitude deviation of the robot’s main body because of dynamic interaction. The proposed cooperative control algorithm is composed of Disturbed-Torque Compensation control on the thrusters, as feedforward control, and sliding mode control on the reaction wheels, which is a known method of robust control, as feedback control. The proposed algorithm is verified by a one-degree-of-freedom model test. In addition, the robustness is also discussed.

TIME-DELAYED FEEDBACK CONTROL OF TIME-DELAY CHAOTIC SYSTEMS

2003 ◽  
Vol 13 (01) ◽  
pp. 193-205 ◽  
Author(s):  
XINPING GUAN ◽  
CAILIAN CHEN ◽  
HAIPENG PENG ◽  
ZHENGPING FAN
Keyword(s):  
Time Delay ◽  
Feedback Control ◽  
Error Control ◽  
Chaotic Systems ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Delayed Feedback ◽  
Delayed Feedback Control ◽  
Control Technique ◽  
Time Delayed Feedback

This paper addresses time-delayed feedback control (DFC) of time-delay chaotic systems. To extend the DFC approach to time-delay chaotic system, alter having been successfully used in chaotic systems without time-delays, the standard feedback control (SFC) method is firstly employed to show the main control technique in this paper based on one error control system. Then sufficient conditions for stabilization and tracking problems via DFC are derived from the results based on SFC. Also, the systematic and analytic controller design method can be obtained to stabilize the system to an unstable fixed point and to tracking an unstable periodic orbit, respectively. Some numerical examples are provided to demonstrate the effectiveness of the presented method.

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