A novel model-based robust control design for collaborative robot joint module

Author(s):  
ShengChao Zhen ◽  
WangXu Cui ◽  
XiaoLi Liu ◽  
GuanJun Meng ◽  
Ye-Hwa Chen

In order to reduce the impact of load and system parameter changes on the dynamic performance of collaborative robot joint module, a novel robust control algorithm is proposed in this paper to solve the problem of dynamic control of collaborative robot joint module trajectory tracking. The controller is composed of two parts: one is a nominal control term designed based on the dynamical model, aiming to stabilize the nominal robot system; the other is a robust control term based on the Lyapunov method, aiming to eliminate the influence of uncertainty on tracking performance, where the uncertainties include nonlinear friction, parameter uncertainty, and external disturbances. The Lyapunov minimax method is adopted to prove that the system is uniformly bounded and uniformly ultimately bounded. We performed numerical simulation and experimental validation based on an actual collaborative robot joint module experimental platform and the rapid controller prototype cSPACE. The numerical simulation and experimental results show that the controller has excellent control performance for the collaborative robot joint module and provides more accurate trajectory tracking under the influence of uncertainties.

2012 ◽  
Vol 236-237 ◽  
pp. 1286-1291
Author(s):  
Feng Wang ◽  
De You Liu ◽  
Ling Zhou ◽  
Xiang Dong Qian

hree-dimensional aerodynamic performance of wind turbine impeller is one of the most important elements in the wind turbine design process; its accuracy directly impacts the efficiency and stability of wind turbine operation. As the current numerical simulation for three-dimensional aerodynamic performance of wind turbine impeller does not fully consider the impact of the rotation effect of the wind turbine and other factors, a relatively large calculation error can be resulted. In this paper, a 1.65MW Vestas wind turbine was taken as an model, and design process of wind turbine blade was made. Also, three-dimensional numerical simulation was made to get a comprehensive dynamic performance of the wind turbine, and the influence of wind turbine power and wind farm efficiency by the pitch angle and wind speed were made.


Author(s):  
Ahmed J. Abougarair ◽  
Ali S. Elmolihi

Robots have been used in many applications in the past few decades. Moreover, due to high nonlinearity behavior of these systems, an optimal and robust control design approaches have been considered to stabilize and improve their performance and robustness. The uncertainties of the time delay on the output states of the mobile robot system have a significant influence on the system nominal performance. As a result, the work becomes here to address the influence of these uncertainties on the robot system performance. In order to achieve this objective, the nonlinear controller via sliding mode control (SMC) is designed by selecting a suitable sliding surface dynamics in which the considered robot displacement and tilt angle are sliding on. The lyapunov function is considered here to accomplish  the design of the sliding control signals for robot stabilization. Furthermore, the stability of the considered system is guaranteed due to convergence of  the lyapunov functions into zero when the state trajectories tend to desired set points. In addition, we consider the trajectory tracking and stabilization of TWBMR system using parallel double loop PID controllers whose controllers gains are tuning via linear quadratic regulator (LQR) approach.  Finally, to demonstrate the effectiveness of SMC and PID-LQR design methods,  the comparison is carried out when the nominal and uncertain conditions.


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