An Uncertainty-Attenuating Controller for Mechanical Manipulators with Electromechanical Dynamics: Part 2

1994 ◽  
Vol 208 (4) ◽  
pp. 215-219
Author(s):  
C L Teo ◽  
H A Zhu ◽  
G S Hong
Keyword(s):  
Dynamic Model ◽  
Feedback Linearization ◽  
Robotic Manipulators ◽  
Decoupling Control ◽  
Disturbance Decoupling ◽  
Control Scheme ◽  
Mechanical Manipulators ◽  
Mechanical Dynamics ◽  
Electromechanical Dynamics ◽  
And Control

Decoupling control of robotic manipulators, based on a dynamic model that includes both the mechanical dynamics of the links and the electrical dynamics of the joint motors, is studied in this paper. By using an algorithm of feedback linearization developed in this paper, the highly non-linear and strongly cross-coupled electromechanical system is decoupled and linearizd into a set of decoupled linear subsystems. Then, disturbance decoupling is further conducted for disturbance and uncertainty attenuation. It is shown that, by using the proposed control scheme, both modelling difficulty and control complexity of the manipulator system can be significantly reduced.

scholarly journals The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Dewei Zhang ◽  
Hui Qi ◽  
Xiande Wu ◽  
Yaen Xie ◽  
Jiangtao Xu
Keyword(s):  
Target Tracking ◽  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Control Method ◽  
Measurement Unit ◽  
Control Algorithms ◽  
Nonlinear Dynamic Model ◽  
And Control

A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU). The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

scholarly journals Robust linearization scheme by structural state feedback for a quadrotor

2021 ◽  
pp. 13-21
Author(s):  
Luis Ángel Blas-Sánchez ◽  
Margarita Galindo-Mentle ◽  
Adolfo Quiroz-Rodríguez ◽  
Marlon Licona-González
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Dynamic Model ◽  
Feedback Linearization ◽  
State Feedback ◽  
Circular Trajectory ◽  
Linearization Technique ◽  
Aerial Vehicles ◽  
State Observers ◽  
Control Scheme ◽  
Change Of Variable

In this work a feedback linearization technique is proposed, to carry it out to linearize the dynamic model of the quadrotor, a change of variable is introduced that maps the nonlinearities of the system into a nonlinear uncertainty signal contained in the domain of the action of control and is applied to the dynamic model of the quadrotor. To estimate the nonlinear uncertainty signal, the Beard-Jones filter is used, which is based on standard state observers. To verify the effectiveness of the proposed control scheme, experiments are carried out outdoors to follow a circular trajectory in the (x,y) plane. This presented control scheme is suitable for unmanned aerial vehicles where it is important to reject not only non-linearities but also to seek the simplicity and effectiveness of the control scheme for its implementation.

Control Strategy Research on Controllable Pendulum in Step Perturbation

2014 ◽  
Vol 602-605 ◽  
pp. 1387-1390
Author(s):  
Geng Biao Shen ◽  
Fan Li ◽  
Zi Chao Zhang ◽  
Jian Hui Zhao
Keyword(s):  
Autonomous Navigation ◽  
State Feedback ◽  
Decoupling Control ◽  
Control Law ◽  
Strategy Research ◽  
Existing Problems ◽  
Indirect Control ◽  
Control Scheme ◽  
Preliminary Study ◽  
And Control

Applying controllable pendulum to indicating vertical is a new method which can be used for autonomous navigation. There are some studies on the method and it puts forward the existing problems. In this paper, it carries on the preliminary study on drawbacks that it exists steady-state error in controllable pendulum, and designs a new control scheme combined direct control with indirect control while there is step perturbation. Then it designs the corresponding control law by using observer with state feedback and decoupling control. It makes software simulation by Matlab and the results show that the controllable pendulum can be controlled well to indicate vertical by using the designed control scheme and control law when it exists step perturbation.

Kinematics, Dynamics and Control of a Planar 3-DOF Tensegrity Robot Manipulator

2007 ◽  
Author(s):  
Rafael E. Vasquez ◽  
Julio C. Correa
Keyword(s):  
Nonlinear Control ◽  
Feedback Linearization ◽  
Robot Manipulator ◽  
Equation Of Motion ◽  
Tensegrity Systems ◽  
Control Scheme ◽  
Dynamics And Control ◽  
Cartesian Coordinate ◽  
Three Degree Of Freedom ◽  
And Control

In this paper the kinematic and the dynamic analysis, and a nonlinear control strategy for a planar three-degree-of-freedom tensegrity robot manipulator are addressed. A geometric method is used to obtain the set of equations that describe the position analysis. Initially, solutions to the problems concerning forward and reverse kinematic analysis are presented; then, the forward velocity coefficients matrix is obtained analytically. The Lagrangian approach is used to deduce the dynamic equation of motion and its main properties are described using the nonlinear control system theory. Finally, a feedback-linearization-based nonlinear control scheme is applied to the mechanism to follow a prescribed path in the Cartesian coordinate system. The obtained results show that lightweight mechanisms which incorporate tensegrity systems could be used in a positioning problem.

Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

2008 ◽  
Vol 3 (3) ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal ◽  
Jaume Franch
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Differential Flatness ◽  
Dynamic Feedback ◽  
Basic Approach ◽  
Planning And Control ◽  
Simulation Results ◽  
And Control

This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system’s dynamic model. The theory of differential flatness is used as the basic approach in these developments. Flat outputs are found that linearize the system’s dynamic model using dynamic feedback linearization, a subclass of differential flatness. It is demonstrated that this property considerably simplifies motion planning and the development of controller. Simulation results are presented in the paper, which show that the developed controller has the desirable performance with exponential stability.

Visual-Servo Autonomous Robotic Manipulators for Capturing Non-Cooperative Target

2014 ◽  
Author(s):  
Gangqi Dong ◽  
Z. H. Zhu
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Loop Control ◽  
Six Degrees Of Freedom ◽  
Transformation Matrices ◽  
Control Scheme ◽  
And Control ◽  
Close Loop Control ◽  
Real State

This paper presents a methodology of vision-based pose and motion estimation of non-cooperative targets as well as a control scheme for robotic manipulators to perform autonomous capture of non-cooperative targets. A combination of photogrammetry and extended Kalman filter is proposed for real time state estimation of the non-cooperative target. Once the vision-based estimation is obtained, a real state of the target regarding to the global frame is calculated based on the transformation matrices of coordinate frames. So as to make a capture, a desired state of the end effector is defined in accordance with the real state of the target aforementioned, and further a corresponding desired state of the robotic manipulator is derived by inverse kinematics. Then a close-loop control scheme is adopted to drive the robot to the desired state previously obtained. Experiments have been designed and implemented on a custom built six degrees of freedom robotic manipulator with an eye-in-hand configuration. The experimental results demonstrated the feasibility and effectiveness of the proposed methodology and control scheme.

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