Application of Modified Motional Mode Decoupling Control Scheme for a Fine-Motion Stage with Three-Degrees-of-Freedom.

In this work, an admittance control scheme is proposed utilizing a highly robust prescribed performance position tracking controller for flexible joint robots which is designed at the operational space. The proposed control scheme achieves the desired impedance to the external contact force as well as superior position tracking in free motion without any robot model knowledge, as opposed to the torque based impedance controllers. Comparative simulation results on a three degrees-of-freedom (3DOF) flexible joint manipulator, illustrate the efficiency of the approach.

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Decoupling Control for Three Degrees of Freedom Servo System Based on Neural Network

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.765-767.1840 ◽

2013 ◽

Vol 765-767 ◽

pp. 1840-1843

Author(s):

Zhen Bi Li ◽

Bai Ting Zhao ◽

Yuan Yuan Jiang

Keyword(s):

Neural Network ◽

Degrees Of Freedom ◽

Inertial Navigation System ◽

Servo System ◽

Good Control ◽

Decoupling Control ◽

Simulating Experiment ◽

Control Precision ◽

The Neural Network ◽

Three Degrees Of Freedom

Three degrees of freedom servo system (TDFSS) is one of the key equipments of inertial testing, such as evaluation of inertial navigation system and test of inertial components. It is a kind of servo system with some non-linearity and uncertainty. This thesis takes advantage of the characteristic of Neural network in approaching non-linear function, applies the Neural network on the three-axis simulator, provides a method for the TDFSS. Simulating experiment has been used to verify the advantage of the scheme and achieved completely decoupling control. The scheme gives good control precision, and it is simply structured and easily implemented.Introduction

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Decoupling Control of Three Degrees of Freedom Hybrid Magnetic Bearing Based on LS-SVM

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.529.534 ◽

2014 ◽

Vol 529 ◽

pp. 534-538

Author(s):

Yuan Yuan Li ◽

Huang Qiu Zhu

Keyword(s):

Degrees Of Freedom ◽

Control Method ◽

Hybrid Control ◽

Original System ◽

Magnetic Bearing ◽

Inverse System ◽

Least Square ◽

Decoupling Control ◽

Support Vector ◽

Three Degrees Of Freedom

In the paper, the decoupling control method based on least square support vector machine (LS-SVM) inverse system is proposed, and adopting the method realizes decoupling control of an AC-DC three degrees of freedom hybrid magnetic bearing (AC-DC-3DOF-HMB). Aimed at the complicated multivariate nonlinear, strong coupling system of the AC-DC-3DOF-HMB, the reversibility of original system was analyzed, by the ability of least square support vector machines (LS-SVM) in universal approximation and identification fitting to get inverse model of AC-DC three degrees of freedom hybrid magnetic bearing. Then according to the basic principle of inverse system method, the inverse system was connected with the original system. So the complex nonlinear multivariable system is decoupled into three independent pseudo-linear system. The simulation results show that the system was decoupled; the hybrid control method has good dynamic and static performance, verify the feasibility of the proposed control method.

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Adaptive path-constrained control of a robotic manipulator in a task space

Robotica ◽

10.1017/s0263574706003018 ◽

2006 ◽

Vol 25 (1) ◽

pp. 103-112 ◽

Cited By ~ 10

Author(s):

Mirosław Galicki

Keyword(s):

Degrees Of Freedom ◽

Path Following ◽

Lyapunov Stability Theory ◽

Robotic Manipulator ◽

Task Space ◽

End Effector ◽

State Dependent ◽

Control Scheme ◽

Robot Task ◽

Three Degrees Of Freedom

This study addresses the problem of adaptive controlling of both a nonredundant and a redundant robotic manipulator with state-dependent constraints. The task of the robot is to follow a prescribed geometric path given in the task space, by the end-effector. The aforementioned robot task has been solved on the basis of the Lyapunov stability theory, which is used to derive the control scheme. A new adaptive Jacobian controller is proposed in the paper for the path following of the robot, with both uncertain kinematics and dynamics. The numerical simulation results carried out for a planar redundant three-DOF (three degrees of freedom) manipulator whose end-effector follows a prescribed geometric path given in a two-dimensional (2D) task space, illustrate the trajectory performance of the proposed control scheme.

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Analytical Two-Degrees-of-Freedom (2-DOF) Decoupling Control Scheme for Multiple-Input−Multiple-Output (MIMO) Processes with Time Delays

Industrial & Engineering Chemistry Research ◽

10.1021/ie0612921 ◽

2007 ◽

Vol 46 (20) ◽

pp. 6546-6557 ◽

Cited By ~ 14

Author(s):

Tao Liu ◽

Weidong Zhang ◽

Furong Gao

Keyword(s):

Time Delays ◽

Degrees Of Freedom ◽

Multiple Input Multiple Output ◽

Decoupling Control ◽

Two Degrees Of Freedom ◽

Control Scheme ◽

Multiple Input ◽

Input Multiple Output

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Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Mathematical Problems in Engineering ◽

10.1155/2018/7371829 ◽

2018 ◽

Vol 2018 ◽

pp. 1-9 ◽

Cited By ~ 8

Author(s):

Chengxing Lv ◽

Haisheng Yu ◽

Zhili Hua ◽

Lei Li ◽

Jieru Chi

Keyword(s):

Control Algorithm ◽

Degrees Of Freedom ◽

Closed Loop ◽

Control Mechanism ◽

Energy Shaping ◽

Control Scheme ◽

Heading Control ◽

Overall Stability ◽

Three Degrees Of Freedom ◽

State Error

This paper proposes a novel nonlinear control scheme based on energy-shaping (ES) principle and state error port-controlled Hamiltonian (PCH) systems for unmanned surface vehicles (USV) system. The PCH model of three degrees of freedom for USV kinetics system is established. By the ES principle, interconnection assignment and damping injection method is applied to the speed and heading control of the closed-loop USV system to realize an overall stability of control mechanism. Simulation results show that the validity and stability of control algorithm can be satisfied with the performance in speed and heading tracking of which the high simplification and portability make it applicable to the various region.

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