Synthesizing Control Systems for Multi-Degree of Freedom Manipulators

1996 ◽  
Vol 210 (1) ◽  
pp. 45-50
Author(s):  
B S Dalay ◽  
V S Medvedev ◽  
T A Romanova
Keyword(s):  
Control System ◽  
Control Systems ◽  
Characteristic Equation ◽  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Degree Of Freedom ◽  
Output Control ◽  
Single Output ◽  
Single Input ◽  
Control System Synthesis

Methods of analysing single input and single output control systems are well established (1). The same is not true of techniques for solving problems involving multi-inputs and multi-outputs. Such problems arise when controlling manipulators having many degrees of freedom. In this paper techniques of control system synthesis for manipulator mechanisms are considered. The method is based on locating the roots of the characteristic equation to give the desired dynamic properties for every link's servo system in the mechanism. Each link is treated independently. Simple examples to illustrate the method are presented.

scholarly journals MIMO Passive Control Systems Are Not Necessarily Robust

2015 ◽  
Vol 2015 ◽  
pp. 1-6
Author(s):  
Jesús U. Liceaga-Castro ◽  
Irma I. Siller-Alcalá ◽  
Eduardo Liceaga-Castro ◽  
Luis A. Amézquita-Brooks
Keyword(s):  
Control System ◽  
Structure Function ◽  
Control Systems ◽  
Passive Control ◽  
Linear Control System ◽  
Linear Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input

Via several cases of study it is shown that a passive multivariable linear control system, contrary to its single input single output counterpart, may not be robust. Moreover, it is shown that lack of robustness can be exposed via the multivariable structure function.

Tuning and design of single-input, single-output control systems for parametric uncertainty

AIChE Journal ◽  
2000 ◽  
Vol 46 (8) ◽  
pp. 1616-1631 ◽  
Author(s):  
Karel Stryczek ◽  
Mario Laiseca ◽  
Coleman Brosilow ◽  
Marshall Leitman
Keyword(s):  
Control Systems ◽  
Parametric Uncertainty ◽  
Output Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input

Genetic algorithms in model structure and controller structure identification

1997 ◽  
Vol 211 (5) ◽  
pp. 333-343 ◽  
Author(s):  
I G French ◽  
C S Cox ◽  
C K S HO
Keyword(s):  
Control Systems ◽  
Discrete Time ◽  
Structure Identification ◽  
Time Transfer ◽  
Output Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Advanced Control ◽  
Single Input ◽  
Selection Of

Conventional multiloop SISO (single-input, single-output) control systems are still used in industry even though stating interaction between loops often significantly limits their effectiveness. Modern industry requires advanced control solutions based around multivariable system formulations. Two related but specific problems arise in the design of discrete-time MIMO (multi-input, multi-output) control systems. The first is the efficient identification of the structure, order and parameters of the MIMO discrete-time transfer function process description. The second is the difficulty in quickly establishing the selection of an appropriate set of manipulated variables to control a set of specified outputs, often called the ‘pairing problem’. This paper suggests a framework to help solve both problems by the development of automated search procedures based on a genetic algorithm.

scholarly journals Comparative study of zero effects in pole-placement control system design via the shift and delta transforms

2005 ◽  
Vol 18 (3) ◽  
pp. 439-451
Author(s):  
Milica Naumovic
Keyword(s):  
Control System ◽  
System Design ◽  
Pole Placement ◽  
Control System Design ◽  
Single Input Single Output ◽  
Single Output ◽  
Continuous Time Systems ◽  
Single Input ◽  
Pole Placement Control ◽  
Time Systems

This paper deals with the special replacement of the shift operator and its associated z transform by delta operator and ? transform, respectively. The aim of the paper is to clarify the role of zeros of discretized linear single input single output continuous-time systems modeled by shift and delta operators. In particular, the effect of zero dynamics on the control system design based on classical pole-zero assignment in the case of both operators is considered. The analysis is illustrated by simulation results.

A Design Method for Two-Degree-of-Freedom Simple Multi-Period Repetitive Control Systems

2010 ◽  
Vol 36 ◽  
pp. 243-252 ◽  
Author(s):  
Yoshinori Ando ◽  
Tatsuya Sakanushi ◽  
Kou Yamada ◽  
Iwanori Murakami ◽  
Takaaki Hagiwara ◽  
...  
Keyword(s):  
Control System ◽  
Control Systems ◽  
Transfer Functions ◽  
Design Method ◽  
Output Characteristic ◽  
Degree Of Freedom ◽  
Disturbance Attenuation ◽  
Input Output ◽  
Attenuation Characteristic ◽  
Two Degree Of Freedom

The multi-period repetitive (MPR) control system is a type of servomechanism for periodic reference inputs. Using MPR controllers, transfer functions from the reference input to the output and from the disturbance to the output of the MPR control system have infinite numbers of poles. To specify the input-output characteristic and the disturbance attenuation characteristic easily, Yamada and Takenaga proposed MPR control systems, named simple multi-period repetitive (simple MPR) control systems, where these transfer functions have finite numbers of poles. In addition, Yamada and Takenaga clarified the parameterization of all stabilizing simple MPR controllers. However, using the simple MPR repetitive controller by Yamada and Takenaga, we cannot specify the input-output characteristic and the disturbance attenuation characteristic separately. From the practical point of view, it is desirable to specify the input-output characteristic and the disturbance attenuation characteristic separately. The purpose of this paper is to propose the parameterization of all stabilizing two-degree-of-freedom (TDOF) simple MPR controllers that can specify the input-output characteristic and the disturbance attenuation characteristic separately.

STABILITY OF SISO NONLINEAR SYSTEMS WITH PARAMETERS DISTURBANCES

2012 ◽  
Vol 26 (25) ◽  
pp. 1246008
Author(s):  
OLGA SHPILEVAYA
Keyword(s):  
Nonlinear Systems ◽  
System Dynamics ◽  
Control Systems ◽  
Lyapunov Method ◽  
Switched System ◽  
System Stability ◽  
Single Input Single Output ◽  
Single Output ◽  
System Output ◽  
Single Input

We study single-input single-output (SISO) control systems with the rapid piecewise-smooth parameters disturbances. The system dynamics are described by switched system models. The system output is regulated with the help of the nonlinear astatic controller with parameters which depend on some disturbance properties. The system stability is studied by second Lyapunov method.

Isotropic Compliance in E(3): Feasibility and Workspace Mapping

2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Matteo Verotti ◽  
Nicola P. Belfiore
Keyword(s):  
Control System ◽  
Euclidean Space ◽  
Joint Control ◽  
Control Law ◽  
Single Input Single Output ◽  
Gain Ratio ◽  
Single Output ◽  
Control Gain ◽  
Single Input ◽  
Manipulator Control

A manipulator control system, for which isotropic compliance holds in the Euclidean space E(3), can be significantly simplified by means of diagonal decoupling. However, such simplification may introduce some limits to the region of the workspace where the sought property can be achieved. The present investigation reveals how to detect which peculiar subset, among four different classes, a given manipulator belongs to. The paper also introduces the concept of control gain ratio for each specific single-input/single-output joint control law in order to limit the maximum gain required to achieve the isotropic compliance condition.

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