scholarly journals An anti-sway positioning control method via load generalized position tracking with disturbance observer

2020 ◽  
pp. 002029402096213
Author(s):  
Dan Niu ◽  
Yuxuan Zhu ◽  
Xisong Chen ◽  
Qi Li ◽  
Xiaojun Wang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Disturbance Observer ◽  
Control Algorithm ◽  
Control Method ◽  
Position Tracking ◽  
Bridge Crane ◽  
Test Results ◽  
Positioning Control ◽  
Disturbance Suppression ◽  
Position Tracking Control

The bridge crane system is widely used in the industrial production for transporting large loads. Its anti-sway positioning control is quite crucial for enhancing handling efficiency and safety, but it is also difficult due to underactuated dynamics and various disturbances. In this paper, an anti-sway positioning control algorithm for unmanned crane is proposed based on the load generalized position tracking control algorithm (GPTC), which combines with a disturbance observer to effectively reject the lumped disturbances. The test results show that the proposed method can effectively achieve anti-sway and positioning with prominent disturbance suppression improvements.

Control Research of DC Servo System Based on Friction Compensation

2012 ◽  
Vol 170-173 ◽  
pp. 3720-3723
Author(s):  
Hua Wei Chai ◽  
Jin Yu Zhou ◽  
Yi Xin Wang ◽  
Heng Tan ◽  
Zhi Gang Li
Keyword(s):  
Pid Control ◽  
Tracking Control ◽  
Control Algorithm ◽  
Servo System ◽  
Friction Model ◽  
Position Tracking ◽  
Pid Algorithm ◽  
Control Research ◽  
Dynamic Performances ◽  
Position Tracking Control

In order to realize high precision position tracking control in some dc servo system, aimed at all kinds of uncertainties, a disturbance torque compensation control tactics is put forward. In other words, friction model is approximated online by fuzzy system and identification result is taken as compensation item of control algorithm. Besides, adaptive fuzzy compensation PID algorithm is utilized. Simulation results show that compared with conventinal PID control, this control tactics can enhance dynamic performances and steady-state precision, satisfying performance requests.

Position tracking control of electro-hydraulic single-rod actuator based on an extended disturbance observer

Mechatronics ◽  
2015 ◽  
Vol 27 ◽  
pp. 47-56 ◽  
Author(s):  
Kai Guo ◽  
Jianhua Wei ◽  
Jinhui Fang ◽  
Ruilin Feng ◽  
Xiaochen Wang
Keyword(s):  
Tracking Control ◽  
Disturbance Observer ◽  
Position Tracking ◽  
Position Tracking Control

scholarly journals End-Effector Position Tracking Control for an Aerial Manipulator with a Lightweight Manipulator

2021 ◽  
Author(s):  
Huazi Cao ◽  
Lixin Wang
Keyword(s):  
Real Time ◽  
Motion Control ◽  
Tracking Control ◽  
Control Method ◽  
Position Tracking ◽  
Motion Controller ◽  
End Effector ◽  
Coordinate Control ◽  
Aerial Manipulator ◽  
Position Tracking Control

Abstract An end-effector position tracking control task for an aerial manipulator is usually constituted by two subtasks. The first is motion control, and the second is coordinate control so that the end-effector of the aerial manipulator can precisely track the given trajectory. This paper proposes a novel end-effector position tracking control approach for the aerial manipulator with a lightweight manipulator to achieve these two subtasks. The motion control of the aerial manipulator is solved by a partially coupled approach and divided into a multirotor controller and a manipulator controller. The multirotor controller is designed by the adaptive neural network control, while joints of the manipulator are steered by PID controllers. By resorting to radial basis function neural networks with adaptive weight estimation laws, the dynamic coupling between the multirotor and the manipulator can be compensated in real time. With the support of Lyapunov stability criteria, it is proved that the desired trajectories can be boundedly tracked by the multirotor under the proposed controller. Then, a new coordinate control method is proposed based on the linear model predictive control method. This method ensures that the solution satisfies physical limits of the aerial manipulator and can be executed in real time. Simulations demonstrate that the proposed motion controller significantly outperforms a baseline nonlinear motion controller in the simulation cases. Besides, comparisons among the proposed coordinate control method and traditional methods are simulated to demonstrate effectiveness and performance.

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