Designing and implementing a plug-in type repetitive controller for a redundantly actuated ankle rehabilitation robot

2018 ◽  
Vol 232 (5) ◽  
pp. 592-607 ◽  
Author(s):  
Mustafa Sinasi Ayas ◽  
Ismail Hakki Altas
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Search Algorithm ◽  
External Disturbance ◽  
Tracking Error ◽  
Rehabilitation Robot ◽  
Trajectory Tracking Control ◽  
Intensive Training ◽  
Ankle Rehabilitation ◽  
Repetitive Controller

This article is focused on increasing the tracking performance of a developed ankle rehabilitation robot subject to external disturbance. A plug-in-type repetitive controller cascaded to a proportional–integral–derivative controller is designed and implemented in order to make improvement in the tracking ability of the parallel mechanism while performing the common range of motion exercises which are intensive training exercises in ankle rehabilitation. First, the trajectory tracking control is simply implemented by the PID controllers, the parameters of which are optimally tuned using Cuckoo search algorithm. Then, the designed RC is plugged into the system and trajectory tracking control is carried out. Performance measurements of the PID controller and plug-in RC controller are estimated using error-based performance methods and considerable improvements are observed in attenuating the external disturbance and decreasing the tracking error when the plug-in RC is implemented.

scholarly journals Adaptive Trajectory Tracking Control of a Parallel Ankle Rehabilitation Robot With Joint-Space Force Distribution

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 85812-85820 ◽  
Author(s):  
Mingming Zhang ◽  
Andrew McDaid ◽  
Allan J. Veale ◽  
Yuxin Peng ◽  
Sheng Quan Xie
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Joint Space ◽  
Force Distribution ◽  
Rehabilitation Robot ◽  
Trajectory Tracking Control ◽  
Ankle Rehabilitation

Robust Trajectory Tracking Control of Autonomous Quad-Rotor UAV Based on Double Loop Frame

2011 ◽  
Vol 467-469 ◽  
pp. 1421-1426
Author(s):  
Zhi Cheng Hou ◽  
X. Gong ◽  
Y. Bai ◽  
Y.T. Tian ◽  
Q. Sun
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
External Disturbance ◽  
Double Loop ◽  
Trajectory Tracking Control ◽  
Stability Augmentation ◽  
Aerial Vehicle ◽  
Simulation Results ◽  
Control Quantity

This paper deals with the under-actuated characteristic of a quad-rotor unmanned aerial vehicle (UAV). By designing the double loop configuration, the autonomous trajectory tracking is realized. The model uncertainty, external disturbance and the senor noise are also taken into consideration. Then the controller is put forward in the inner loop. An optimal stability augmentation control (SAC) method is used to stabilize the horizon position and keep it away from oscillation. By calculating the nonlinear decouple map, control quantity is converted to the speeds of the four rotors. At last some simulation results and the prototype implementation prove that the control method is effective.

scholarly journals Adaptive Sliding Mode Trajectory Tracking Control for WMR Considering Skidding and Slipping via Extended State Observer

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3305 ◽  
Author(s):  
Gang Wang ◽  
Chenghui Zhou ◽  
Yu Yu ◽  
Xiaoping Liu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Parameter Uncertainties ◽  
Trajectory Tracking Control ◽  
Adaptive Sliding Mode

When the wheeled mobile robot (WMR) is required to perform specific tasks in complex environment, i.e., on the forestry, wet, icy ground or on the sharp corner, wheel skidding and slipping inevitably occur during trajectory tracking. To improve the trajectory tracking performance of WMR under unknown skidding and slipping condition, an adaptive sliding mode controller (ASMC) design approach based on the extended state observer (ESO) is presented. The skidding and slipping is regarded as external disturbance. In this paper, the ESO is introduced to estimate the lumped disturbance containing the unknown skidding and slipping, parameter variation, parameter uncertainties, etc. By designing a sliding surface based on the disturbance estimation, an adaptive sliding mode tracking control strategy is developed to attenuate the lumped disturbance. Simulation results show that higher precision tracking and better disturbance rejection of ESO-ASMC is realized for linear and circular trajectory than the ASMC scheme. Besides, experimental results indicate the ESO-ASMC scheme is feasible and effective. Therefore, ESO-ASMC scheme can enhance the energy efficiency for the differentially driven WMR under unknown skidding and slipping condition.

scholarly journals Model Identification and Trajectory Tracking Control for Vector Propulsion Unmanned Surface Vehicles

Electronics ◽  
2019 ◽  
Vol 9 (1) ◽  
pp. 22 ◽  
Author(s):  
Xiaojie Sun ◽  
Guofeng Wang ◽  
Yunsheng Fan
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Control Point ◽  
Model Identification ◽  
Underactuated System ◽  
Trajectory Tracking Control ◽  
Unmanned Surface Vehicles ◽  
Trajectory Tracking Controller

To promote the development of military and civilian applications for marine technology, more and more scientific research around the world has begun to develop unmanned surface vehicles (USVs) technology with advanced control capabilities. This paper establishes and identifies the model of vector propulsion USV, which is widely used at present. After analyzing its actuator distribution, we consider that the more realistic vessel model should be an incomplete underactuated system. For this system, a virtual control point method is adopted and an adaptive sliding mode trajectory tracking controller with neural network minimum learning parameter (NNMLP) theory is designed. Finally, in the simulation experiment, the thruster speed and propulsion angle are used as the inputs of the controller, and the linear and circular trajectory tracking tests are carried out considering the delay effect of the actuator, system uncertainty, and external disturbance. The results show that the proposed tracking control framework is reasonable.

scholarly journals Adaptive Fuzzy Sliding Mode and Robust Tracking Control for Manipulators with Uncertain Dynamics

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Sanxiu Wang
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Robotic Manipulator ◽  
Trajectory Tracking Control ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

In response to the issue of the trajectory tracking control problem of manipulators with uncertain parameters and external disturbance, an adaptive fuzzy sliding mode robust control algorithm is proposed. Sliding mode control (SMC) is adopted to perform robotic manipulator trajectory tracking control. Then, a fuzzy logic system is used for adaptive adjustment of switching gain of the SMC and to reduce the buffeting problem. Next, compensation is made by using the robust controller in consideration of the impacts of unmodeled dynamics and external disturbance. The simulation experiment on a two axes robotic manipulator shows that, with the proposed control method, the sliding mode control input signal is kept smooth, and the manipulator has high trajectory tracking precision.

scholarly journals A Novel Trajectory Tracking Control Strategy for Underactuated Quadrotor UAV with Uncertainties and Disturbances

2020 ◽  
Author(s):  
Jiang Han ◽  
Siyang Yang ◽  
Lian Xia ◽  
Ye-Hwa Chen
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Tracking Error ◽  
Uniform Boundedness ◽  
Trajectory Tracking Control ◽  
Quadrotor Uav ◽  
Uniform Ultimate Boundedness ◽  
Position Controller ◽  
Aerial Vehicle

Abstract In this research, a novel position trajectory tracking control architecture has been constructed for an underactuated quadrotor unmanned aerial vehicle (UAV) with uncertainties and disturbances. Primarily, we divide the whole dynamic system into an underactuated position subsystem and a fully-actuated attitude subsystem. For the position subsystem, we have transformed it into a fully-actuated system by constructing a virtual PD controller, and this controller can render the position tracking error asymptotically stable. Besides, based on the position controller designed for quadrotor UAV, the desired attitudes, i.e. roll, pitch and yaw angles, will be derived. Next, as for the attitude subsystem which is sensitive to uncertainties and external disturbances, a novel robust attitude constraint-following controller is proposed for this aircraft, this attitude controller can not only guarantee the uniform boundedness and uniform ultimate boundedness of constraint deviation, but also does not requiring more information of uncertainties and disturbances except their bounds. Eventually, the simulations have demonstrated a sound tracking performance of our proposed control strategy for quadrotor UAV even in the presence of uncertainties and disturbances.

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