scholarly journals Modeling and PDC fuzzy control of planar parallel robot

2017 ◽  
Vol 14 (1) ◽  
pp. 172988141668711
Author(s):  
Benyamine Allouche ◽  
Antoine Dequidt ◽  
Laurent Vermeiren ◽  
Michel Dambrine
Keyword(s):  
Structural Characteristics ◽  
Differential Algebraic Equations ◽  
Parallel Robots ◽  
Linear Matrix ◽  
Parallel Mechanisms ◽  
Algebraic Equations ◽  
Differential Algebraic Equation ◽  
Trajectory Tracking Control ◽  
Model Based ◽  
Takagi Sugeno

Many works in the literature have studied the kinematical and dynamical issues of parallel robots. But it is still difficult to extend the vast control strategies to parallel mechanisms due to the complexity of the model-based control. This complexity is mainly caused by the presence of multiple closed kinematic chains, making the system naturally described by a set of differential–algebraic equations. The aim of this work is to control a two-degree-of-freedom parallel manipulator. A mechanical model based on differential–algebraic equations is given. The goal is to use the structural characteristics of the mechanical system to reduce the complexity of the nonlinear model. Therefore, a trajectory tracking control is achieved using the Takagi-Sugeno fuzzy model derived from the differential–algebraic equation forms and its linear matrix inequality constraints formulation. Simulation results show that the proposed approach based on differential–algebraic equations and Takagi-Sugeno fuzzy modeling leads to a better robustness against the structural uncertainties.

Dynamic Modeling and Simulation of Parallel Mechanisms Using the Virtual Spring Approach

2000 ◽  
Author(s):  
Jiegao Wang ◽  
Clément M. Gosselin ◽  
Li Cheng
Keyword(s):  
Closed Loop ◽  
Differential Algebraic Equations ◽  
Parallel Mechanisms ◽  
Algebraic Equations ◽  
New Approach ◽  
Flexible Links ◽  
Simulation Results ◽  
Loop Constraints ◽  
Virtual Springs ◽  
Good Agreement

Abstract A new approach for the dynamic simulation of parallel mechanisms or mechanical systems is presented in this paper. This approach uses virtual springs and dampers to include the closed-loop constraints thereby avoiding the solution of differential-algebraic equations. Examples illustrating the approach are given and include the four-bar mechanism with both rigid and flexible links as well as the 6-dof Gough-Stewart platform. Simulation results are given for the four-bar linkages and the 6-dof manipulator. The results achieve a good agreement with the results obtained from other conventional approaches.

scholarly journals The Pantelides algorithm for delay differential-algebraic equations

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Ines Ahrens ◽  
Benjamin Unger
Keyword(s):  
Differential Algebraic Equations ◽  
Equivalence Classes ◽  
Point Of View ◽  
Algebraic Equations ◽  
Sufficient Criterion ◽  
Differential Algebraic Equation ◽  
Graph Theoretical Approach ◽  
Delay Differential ◽  
Necessary And Sufficient ◽  
Structural Point

Abstract We present a graph-theoretical approach that can detect which equations of a delay differential-algebraic equation (DDAE) need to be differentiated or shifted to construct a solution of the DDAE. Our approach exploits the observation that differentiation and shifting are very similar from a structural point of view, which allows us to generalize the Pantelides algorithm for differential-algebraic equations to the DDAE setting. The primary tool for the extension is the introduction of equivalence classes in the graph of the DDAE, which also allows us to derive a necessary and sufficient criterion for the termination of the new algorithm.

Projection Method With Minimal Correction Procedure for Numerical Simulation of Constrained Dynamics

2017 ◽  
Author(s):  
Patrick S. Heaney ◽  
Gene Hou
Keyword(s):  
Projection Method ◽  
Numerical Technique ◽  
Correction Method ◽  
Differential Algebraic Equations ◽  
Constrained Systems ◽  
Correction Procedure ◽  
Algebraic Equations ◽  
Differential Algebraic Equation ◽  
Index Reduction ◽  
Algebraic Constraints

This paper describes a numerical technique for simulating the dynamics of constrained systems, which are described generally by differential-algebraic equations. The Projection Method for index reduction of a differential-algebraic equation and a minimal correction procedure are described. This procedure ensures algebraic constraints are satisfied during the numerical integration of the reduced index system of differential equations. Two examples illustrate how the method can be utilized to solve constrained multibody and rotational dynamics problems. The efficiency and accuracy of the proposed index-reduction and minimal correction method are then evaluated.

LYAPUNOV SPECTRUM OF NONAUTONOMOUS LINEAR STOCHASTIC DIFFERENTIAL ALGEBRAIC EQUATIONS OF INDEX-1

2012 ◽  
Vol 12 (04) ◽  
pp. 1250002 ◽  
Author(s):  
NGUYEN DINH CONG ◽  
NGUYEN THI THE
Keyword(s):  
Differential Equations ◽  
Stochastic Differential Equations ◽  
Lyapunov Exponents ◽  
Algebraic Equation ◽  
Differential Algebraic Equations ◽  
Lyapunov Spectrum ◽  
Stochastic Flow ◽  
Algebraic Equations ◽  
Differential Algebraic Equation ◽  
Two Parameter

We introduce a concept of Lyapunov exponents and Lyapunov spectrum of a stochastic differential algebraic equation (SDAE) of index-1. The Lyapunov exponents are defined samplewise via the induced two-parameter stochastic flow generated by inherent regular stochastic differential equations. We prove that Lyapunov exponents are nonrandom.

scholarly journals A Generalized State-Space Aeroservoelastic Model Based on Tangential Interpolation

Aerospace ◽  
2019 ◽  
Vol 6 (1) ◽  
pp. 9 ◽  
Author(s):  
David Quero ◽  
Pierre Vuillemin ◽  
Charles Poussot-Vassal
Keyword(s):  
State Space ◽  
Reference Model ◽  
Differential Algebraic Equations ◽  
Summation Method ◽  
Algebraic Equations ◽  
Minimal Order ◽  
New Approach ◽  
Model Based ◽  
Generalized State Space ◽  
Generalized State

In this work, a new approach for the generation of a generalized state-space aeroservoelastic model based on tangential interpolation is presented. The resulting system of differential algebraic equations (DAE) is reduced to a set of ordinary differential equations (ODE) by residualization of the non-proper part of the transfer function matrix. The generalized state-space is of minimal order and allows for the application of the force summation method (FSM) for the aircraft loads recovery. Compared to the classical rational function approximation (RFA) approach, the presented method provides a minimal order realization with exact interpolation of the unsteady aerodynamic forces in tangential directions, avoiding any selection of poles (lag states). The new approach is applied first for the generation of an aerodynamic model for the bidimensional unsteady incompressible flow in the time domain. Next, an application on the generation of an aeroservoelastic model for loads evaluation of the flutter reduced order assessment (FERMAT) model under atmospheric disturbances is done, showing an excellent agreement with the reference model in the frequency domain. The proposed aeroservoelastic model of minimal order is suited for loads analysis and multivariable control design, and an application to a gust loads alleviation (GLA) strategy is shown.

scholarly journals An approximate internal model-based neural control for serial robots with multiple clearance joints

2018 ◽  
Vol 10 (12) ◽  
pp. 168781401881232
Author(s):  
Lixin Yang ◽  
Xianmin Zhang
Keyword(s):  
Internal Model ◽  
Neural Control ◽  
Control Method ◽  
Differential Algebraic Equations ◽  
Algebraic Equations ◽  
Clearance Joints ◽  
Coulomb’S Friction ◽  
Model Based ◽  
Serial Robots ◽  
Joint Clearances

A dynamic model of serial robots with multiple clearance joints is developed. The contact phenomenon in the clearance joint is modeled by a continuous dissipative Hertz contact theory, and the friction force is calculated based on the modified Coulomb’s friction law. A neural network method is employed to predict the dynamic response, which avoids the problem in solving the differential algebraic equations. An approximate internal model-based neural control method is proposed to control the undesired effects arising from the joint clearances. The validity of the proposed method is verified by simulation results.

scholarly journals On the estimation of robust stability regions for nonlinear systems with saturation

2004 ◽  
Vol 15 (3) ◽  
pp. 269-278 ◽  
Author(s):  
Daniel F. Coutinho ◽  
Daniel J. Pagano ◽  
Alexandre Trofino
Keyword(s):  
Nonlinear Systems ◽  
Robust Stability ◽  
Actuator Saturation ◽  
Quadratic Function ◽  
Differential Algebraic Equations ◽  
The State ◽  
Linear Matrix ◽  
Uncertain Parameters ◽  
Algebraic Equations ◽  
Stability Regions

This paper addresses the problem of determining robust stability regions for a class of nonlinear systems with time-invariant uncertainties subject to actuator saturation. The unforced nonlinear system is represented by differential-algebraic equations where the system matrices are allowed to be rational functions of the state and uncertain parameters, and the saturation nonlinearity is modelled by a sector bound condition. For this class of systems, local stability conditions in terms of linear matrix inequalities are derived based on polynomial Lyapunov functions in which the Lyapunov matrix is a quadratic function of the state and uncertain parameters. To estimate a robust stability region is considered the largest level surface of the Lyapunov function belonging to a given polytopic region of state. A numerical example is used to demonstrate the approach.

Model-based and Experimental Analysis of Transient Electrodialysis Processes

2016 ◽  
Author(s):  
Matthias Johannink
Keyword(s):  
Experimental Analysis ◽  
Process Model ◽  
Model Development ◽  
Systematic Investigation ◽  
Differential Algebraic Equations ◽  
Transport Processes ◽  
Mechanistic Modeling ◽  
Algebraic Equations ◽  
Model Based ◽  
Dynamic Description

This thesis is concerned with the integration of a model-based and experimental analysis for the systematic investigation of transient electrodialysis (ED) processes. In this context a mechanistic process model for transient ED systems is developed which is based on a rigorous dynamic description of the underlying ionic transport processes. Important requirements for a systematic model development are elaborated in a systematic manner. This includes the development of a new method for the characterization of partial differential-algebraic equations and an experimental sensitivity analysis of a transient electrodialysis system. The findings can easily be generalized to related electrochemical processes such as fuel cells or batteries. By this means this work provides important results for scientist and engineers in the fields of mechanistic modeling, electromembrane processes and electrochemical systems. ...

Numerical Computation of Differential-Algebraic Equations for Non-Linear Dynamics of Multibody Systems Involving Contact Forces

1999 ◽  
Vol 123 (2) ◽  
pp. 272-281 ◽  
Author(s):  
B. Fox ◽  
L. S. Jennings ◽  
A. Y. Zomaya
Keyword(s):  
Multibody Systems ◽  
Virtual Work ◽  
Equations Of Motion ◽  
Variational Problems ◽  
Differential Algebraic Equations ◽  
Contact Forces ◽  
Algebraic Equations ◽  
Differential Algebraic Equation ◽  
Lagrange Equations ◽  
Constraint Equations

The well known Euler-Lagrange equations of motion for constrained variational problems are derived using the principle of virtual work. These equations are used in the modelling of multibody systems and result in differential-algebraic equations of high index. Here they concern an N-link pendulum, a heavy aircraft towing truck and a heavy off-highway track vehicle. The differential-algebraic equation is cast as an ordinary differential equation through differentiation of the constraint equations. The resulting system is computed using the integration routine LSODAR, the Euler and fourth order Runge-Kutta methods. The difficulty to integrate this system is revealed to be the result of many highly oscillatory forces of large magnitude acting on many bodies simultaneously. Constraint compliance is analyzed for the three different integration methods and the drift of the constraint equations for the three different systems is shown to be influenced by nonlinear contact forces.

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