scholarly journals Control strategies for cleaning robots in domestic applications: A comprehensive review

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141985743 ◽  
Author(s):  
Jaeseok Kim ◽  
Anand Kumar Mishra ◽  
Raffaele Limosani ◽  
Marco Scafuro ◽  
Nino Cauli ◽  
...  
Keyword(s):  
Elderly People ◽  
Position Control ◽  
Impedance Control ◽  
Control Strategies ◽  
Service Robots ◽  
Control Force ◽  
Control Methods ◽  
Data Set ◽  
Increasing Demand ◽  
Classical Control

Service robots are built and developed for various applications to support humans as companion, caretaker, or domestic support. As the number of elderly people grows, service robots will be in increasing demand. Particularly, one of the main tasks performed by elderly people, and others, is the complex task of cleaning. Therefore, cleaning tasks, such as sweeping floors, washing dishes, and wiping windows, have been developed for the domestic environment using service robots or robot manipulators with several control approaches. This article is primarily focused on control methodology used for cleaning tasks. Specifically, this work mainly discusses classical control and learning-based controlled methods. The classical control approaches, which consist of position control, force control, and impedance control , are commonly used for cleaning purposes in a highly controlled environment. However, classical control methods cannot be generalized for cluttered environment so that learning-based control methods could be an alternative solution. Learning-based control methods for cleaning tasks can encompass three approaches: learning from demonstration (LfD), supervised learning (SL), and reinforcement learning (RL). These control approaches have their own capabilities to generalize the cleaning tasks in the new environment. For example, LfD, which many research groups have used for cleaning tasks, can generate complex cleaning trajectories based on human demonstration. Also, SL can support the prediction of dirt areas and cleaning motion using large number of data set. Finally, RL can learn cleaning actions and interact with the new environment by the robot itself. In this context, this article aims to provide a general overview of robotic cleaning tasks based on different types of control methods using manipulator. It also suggest a description of the future directions of cleaning tasks based on the evaluation of the control approaches.

scholarly journals Patient-Centered Robot-Aided Passive Neurorehabilitation Exercise Based on Safety-Motion Decision-Making Mechanism

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Lizheng Pan ◽  
Aiguo Song ◽  
Suolin Duan ◽  
Zhuqing Yu
Keyword(s):  
Decision Making ◽  
Control Strategy ◽  
Position Control ◽  
Impedance Control ◽  
Control Strategies ◽  
Movement Speed ◽  
Stroke Patients ◽  
Patient Centered ◽  
Motion Speed ◽  
Clinical Experiments

Safety is one of the crucial issues for robot-aided neurorehabilitation exercise. When it comes to the passive rehabilitation training for stroke patients, the existing control strategies are usually just based on position control to carry out the training, and the patient is out of the controller. However, to some extent, the patient should be taken as a “cooperator” of the training activity, and the movement speed and range of the training movement should be dynamically regulated according to the internal or external state of the subject, just as what the therapist does in clinical therapy. This research presents a novel motion control strategy for patient-centered robot-aided passive neurorehabilitation exercise from the point of the safety. The safety-motion decision-making mechanism is developed to online observe and assess the physical state of training impaired-limb and motion performances and regulate the training parameters (motion speed and training rage), ensuring the safety of the supplied rehabilitation exercise. Meanwhile, position-based impedance control is employed to realize the trajectory tracking motion with interactive compliance. Functional experiments and clinical experiments are investigated with a healthy adult and four recruited stroke patients, respectively. The two types of experimental results demonstrate that the suggested control strategy not only serves with safety-motion training but also presents rehabilitation efficacy.

scholarly journals Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu
Keyword(s):  
Animal Behavior ◽  
Position Control ◽  
Control Method ◽  
Impedance Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Control Methods ◽  
Prior Work ◽  
Control Approach ◽  
Three Dimensional Space

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

Rotor vibration with auxiliary bearing contact in magnetic bearing systems Part 2: Robust synchronous control for rotor position recovery

2003 ◽  
Vol 217 (4) ◽  
pp. 393-409 ◽  
Author(s):  
M O T Cole ◽  
P S Keogh
Keyword(s):  
Position Control ◽  
Linear Time ◽  
Control Strategies ◽  
Magnetic Bearing ◽  
Contact Forces ◽  
Theoretical Modelling ◽  
Control Force ◽  
Rotor Vibration ◽  
Loop Control ◽  
Rotor Position

A number of conditions or events may produce rotor motion that involves contact with auxiliary bearings. Standard adaptive and closed-loop control strategies based on linear dynamics can cause instability when contact occurs, resulting in increased contact forces and vibration compared with the uncontrolled case. This paper introduces a method for robust control of synchronous vibration components that can maintain dynamic stability during interaction between the rotor and auxiliary bearings. The controllers are designed to minimize the severity and duration of contact and ensure that the rotor vibration returns to optimal levels, provided that sufficient control force capacity is available. Synthesis of controller gain matrices is based on a linear time-varying system model, which can be derived from either on-line identification routines or theoretical modelling and simulation. The controllers are tested experimentally on a flexible rotor system with magnetic bearings and are shown to restore rotor position control to optimal levels without further contact.

scholarly journals A Critical Review on the Control Strategies Applied to PCM-Enhanced Buildings

Energies ◽  
2021 ◽  
Vol 14 (7) ◽  
pp. 1929
Author(s):  
Gohar Gholamibozanjani ◽  
Mohammed Farid
Keyword(s):  
Predictive Control ◽  
Control Strategy ◽  
Energy Cost ◽  
Phase Change Materials ◽  
Control Strategies ◽  
Peak Load ◽  
Control Methods ◽  
Advantages And Disadvantages ◽  
Classical Control ◽  
Cost Shift

The incorporation of phase change materials (PCM) in buildings has the potential to enhance the thermal efficiency of buildings, reduce energy cost, shift peak load, and eventually reduce air pollution and mitigate global warming. However, the initial capital cost of PCM is still high, and thus the establishment of a control strategy has become essential to optimize its use in buildings in an effort to lower investment costs. In this paper, an extensive review has been made with regard to various control strategies applied to PCM-enhanced buildings, such as ON/OFF control, conventional control methods (classical control, optimal, adaptive, and predictive control) and intelligent controls. The advantages and disadvantages of each control strategy are evaluated. The paper further discusses the opportunities and challenges associated with the design of PCM-enhanced buildings in combination with control strategies.

scholarly journals Machine Learning-Based Cognitive Position and Force Controls for Power-Assisted Human–Robot Collaborative Manipulation

Machines ◽  
2021 ◽  
Vol 9 (2) ◽  
pp. 28
Author(s):  
S. M. Mizanoor Rahman
Keyword(s):  
System Performance ◽  
Position Control ◽  
Autonomous Robots ◽  
Control Strategies ◽  
Weight Perception ◽  
Health And Safety ◽  
Robotic System ◽  
Control Methods ◽  
Robot Systems ◽  
Adaptive Control Algorithm

Manipulation of heavy objects in industries is very necessary, but manual manipulation is tedious, adversely affects a worker’s health and safety, and reduces efficiency. On the contrary, autonomous robots are not flexible to manipulate heavy objects. Hence, we proposed human–robot systems, such as power assist systems, to manipulate heavy objects in industries. Again, the selection of appropriate control methods as well as inclusion of human factors in the controls is important to make the systems human friendly. However, existing power assist systems do not address these issues properly. Hence, we present a 1-DoF (degree of freedom) testbed power assist robotic system for lifting different objects. We also included a human factor, such as weight perception (a cognitive cue), in the robotic system dynamics and derived several position and force control strategies/methods for the system based on the human-centric dynamics. We developed a reinforcement learning method to predict the control parameters producing the best/optimal control performance. We also derived a novel adaptive control algorithm based on human characteristics. We experimentally evaluated those control methods and compared the system performance between the control methods. Results showed that both position and force controls produced satisfactory performance, but the position control produced significantly better performance than the force controls. We then proposed using the results to design control methods for power assist robotic systems for handling large and heavy materials and objects in various industries, which may improve human–robot interactions (HRIs) and system performance.

A Review of Classical and Modern Control Techniques Utilized in Modern Microgrids

2021 ◽  
Vol 14 ◽  
Author(s):  
Muhammad Hamza Shahbaz ◽  
Arslan Ahmed Amin
Keyword(s):  
Control Strategies ◽  
Optimal Solution ◽  
Energy Resources ◽  
Control Methods ◽  
Research Gaps ◽  
Control Techniques ◽  
Micro Grid ◽  
Exciting Development ◽  
Micro Grids ◽  
Modern Control

: Because of the consistently expanding energy request, the introduction of a decentralized micro-grid based on energy resources will soon be the most exciting development in the power system. Micro-grids, which are mainly based on inverters, are becoming more popular as they can handle different forms of renewable energy effectively. However, one of the most challenging areas of research is their control. In the last few years, many control strategies have been developed. In this review, different control methods have been discussed that apply to the micro-grid system. Furthermore, the comparative analysis of classical and modern control strategies is also considered. This survey guides the new researchers about all available control strategies and room for improvement towards the optimal solution of the micro-grid control techniques. It also identifies several research gaps and future trends therein as well as provides a solution to manage problems in MGs. The strategies are then compared based on their applicability to different control requirements.

scholarly journals Comparative Study of Classical and MPC Control for Single-Phase MMC Based on V-HIL Simulations

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3230
Author(s):  
Milovan Majstorovic ◽  
Marco Rivera ◽  
Leposava Ristic ◽  
Patrick Wheeler
Keyword(s):  
Single Phase ◽  
Current Control ◽  
Superior Performance ◽  
Control Methods ◽  
Reference Tracking ◽  
Voltage Balancing ◽  
Current Reference ◽  
Circulating Current ◽  
Ac Current ◽  
Classical Control

The operation of single-phase Modular Multilevel Converter (MMC) is analyzed in the paper. A mathematical model of the converter is developed and described, based on which the structure and selection of parameters for Classical Control and Optimal Switching State Model Predictive Control (OSS-MPC) are defined. Additionally, the procedure for the determination of circuit parameters, such as submodule capacitance and arm inductance, is described and carried out. The listed control methods are designed and evaluated in Virtual Hardware-in-the-Loop together with single-phase MMC power circuit, regarding three control objectives: AC current control, voltage balancing control and circulating current control. Control methods are evaluated for both steady-state and transient performance and compared based on nine criteria: AC current reference tracking, THD of AC current and voltage, submodule capacitor voltage balancing, total submodule voltage control, circulating current magnitude and THD, number of control parameters and computational complexity. This is the first time that a fair comparison between Classical Control and MPC is considered in literature, resulting in superior performance of both control methods regarding four different criteria and the same performance regarding AC current reference tracking.

Application of Combined Feedforward and Feedback Controller With Shaped Input to Benchmark Problem

2010 ◽  
Vol 132 (2) ◽  
Author(s):  
Young Joo Shin ◽  
Peter H. Meckl
Keyword(s):  
Feedback Control ◽  
Control Strategy ◽  
Control Strategies ◽  
Control Design ◽  
Single Frequency ◽  
Benchmark Problems ◽  
Control Force ◽  
Benchmark Problem ◽  
Advantages And Disadvantages ◽  
Robust Control Design

Benchmark problems have been used to evaluate the performance of a variety of robust control design methodologies by many control engineers over the past 2 decades. A benchmark is a simple but meaningful problem to highlight the advantages and disadvantages of different control strategies. This paper verifies the performance of a new control strategy, which is called combined feedforward and feedback control with shaped input (CFFS), through a benchmark problem applied to a two-mass-spring system. CFFS, which consists of feedback and feedforward controllers and shaped input, can achieve high performance with a simple controller design. This control strategy has several unique characteristics. First, the shaped input is designed to extract energy from the flexible modes, which means that a simpler feedback control design based on a rigid-body model can be used. In addition, only a single frequency must be attenuated to reduce residual vibration of both masses. Second, only the dynamics between control force and the first mass need to be considered in designing both feedback and feedforward controllers. The proposed control strategy is applied to a benchmark problem and its performance is compared with that obtained using two alternative control strategies.

Reduction of residual vibrations in a rotating flexible beam with a moving payload mass

1997 ◽  
Vol 211 (1) ◽  
pp. 25-34 ◽  
Author(s):  
S Choura
Keyword(s):  
Rigid Body ◽  
Position Control ◽  
Rate Of Change ◽  
Torque Control ◽  
Flexible Beam ◽  
Control Force ◽  
Axial Motion ◽  
Body Rotation ◽  
Rigid Body Rotation ◽  
Payload Mass

The reduction of residual vibrations for the position control of a flexible rotating beam carrying a payload mass is investigated. The common practice used to find the position control of a flexible multi-link arm is to assign a torque actuator to each joint while the payload mass is kept fixed relative to the end-link during the time of manoeuvre. This paper examines the stability of the system if either the payload is freed accidentally to move along the beam during the time of manoeuvre or is allowed to span the beam in a desired path for control purposes. A candidate Lyapunov function is constructed and its time rate of change is examined. It is shown that the use of a PD (proportional plus derivative) torque control yields a convergence of residual vibration to zero, an attainment of the rigid-body rotation to a prespecified desired angle of manoeuvre and a constant velocity of the payload mass as it moves relative to the beam. For manipulation purposes, an additional control force is added to the moving actuator in order to regulate its axial motion. It is shown that allowing the axial motion of the payload mass in a prescribed manner leads to a considerable reduction of its residual vibrations as compared to the case where the payload mass is fixed to the beam tip during the time of manoeuvre. Stability is also verified through simulations of rigid-body rotation and payload axial motion track prespecified reference trajectories.

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