scholarly journals Non-adaptive velocity tracking controller for a class of vehicles

2017 ◽  
Vol 65 (4) ◽  
pp. 459-468 ◽  
Author(s):  
P. Herman ◽  
W. Adamski
Keyword(s):  
Control Algorithm ◽  
Equations Of Motion ◽  
Adaptive Controller ◽  
Underwater Vehicles ◽  
Low Velocity ◽  
External Disturbances ◽  
Parameters Uncertainty ◽  
Tracking Controller ◽  
The Stability ◽  
Velocity Tracking

AbstractA non-adaptive controller for a class of vehicles is proposed in this paper. The velocity tracking controller is expressed in terms of the transformed equations of motion in which the obtained inertia matrix is diagonal. The control algorithm takes into account the dynamics of the system, which is included into the velocity gain matrix, and it can be applied for fully actuated vehicles. The considered class of systems includes underwater vehicles, fully actuated hovercrafts, and indoor airship moving with low velocity (below 3 m/s) and under assumption that the external disturbances are weak. The stability of the system under the designed controller is demonstrated by means of a Lyapunov-based argument. Some advantages arising from the use of the controller as well as the robustness to parameters uncertainty are also considered. The performance of the proposed controller is validated via simulation on a 6 DOF robotic indoor airship as well as for underwater vehicle model.

Repetitive Control for Rejection of Periodic Multiplicative Disturbances and Adaptive Identification of the Unknown Period

2004 ◽  
Author(s):  
Sandipan Mishra ◽  
Manabu Yamada ◽  
Masayoshi Tomizuka
Keyword(s):  
Control Algorithm ◽  
Closed Loop ◽  
Design Method ◽  
Repetitive Control ◽  
Adaptive Controller ◽  
Least Mean Square ◽  
Closed Loop System ◽  
Internal Model Principle ◽  
Periodic Disturbances ◽  
The Stability

Repetitive control has been used extensively for rejection of periodic disturbances, in systems that have to follow periodic trajectories. To date, most repetitive controllers have focused on rejection of additive periodic disturbances. This paper suggests the use of a repetitive control algorithm for rejection of periodic multiplicative disturbances. The first result is a simple design method of a new controller to reject the multiplicative disturbance effectively, provided that the period of the disturbance is known. This controller is based on the internal model principle and the design method consists of a simple norm condition. It is shown that this repetitive-type controller can reject the disturbance. The second result is an extension of the first one to the case that the period of the disturbance is unknown. A period estimator is added to the control system to identify the period of the multiplicative disturbance. The algorithm, consisting of an adaptive recursive least mean square method, is simple. It is shown that this adaptive controller can reject the disturbance with an uncertain period and guarantee the stability of the adaptive closed-loop system including the period estimator.

scholarly journals Neural Network-Based Adaptive Control of Robotic Manipulator: Application to a Three Links Cylindrical Robot

2017 ◽  
Vol 13 (1) ◽  
pp. 114-122
Author(s):  
Abdul-Basset AL-Hussein
Keyword(s):  
Neural Network ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Robotic Manipulator ◽  
Lyapunov Theorem ◽  
External Disturbances ◽  
The Stability ◽  
Learning Law

A composite PD and sliding mode neural network (NN)-based adaptive controller, for robotic manipulator trajectory tracking, is presented in this paper. The designed neural networks are exploited to approximate the robotics dynamics nonlinearities, and compensate its effect and this will enhance the performance of the filtered error based PD and sliding mode controller. Lyapunov theorem has been used to prove the stability of the system and the tracking error boundedness. The augmented Lyapunov function is used to derive the NN weights learning law. To reduce the effect of breaching the NN learning law excitation condition due to external disturbances and measurement noise; a modified learning law is suggested based on e-modification algorithm. The controller effectiveness is demonstrated through computer simulation of cylindrical robot manipulator.

scholarly journals An optimization algorithm for a better PID controller

2014 ◽  
Vol 17 (2) ◽  
pp. 5-12
Author(s):  
Tung Thanh Luu ◽  
Nhan Le
Keyword(s):  
Differential Equations ◽  
Optimization Algorithm ◽  
Pid Controller ◽  
Control Algorithm ◽  
Equations Of Motion ◽  
Control Law ◽  
End Effector ◽  
Precise Position ◽  
Accurate Model ◽  
The Stability

A controller of a manipulator has studied and discussed for many years. However, many problems in controlling the precise position of the end effector are still continuing to be studied. To solve the precision of the Robot, two problems are attended. The first thing is to find the accuracy model of dynamics. The second thing is a controller for control law. However, it is so difficult to find an accurate model or differential equations of motion which is similar to the true manipulator. In addition, some unknown influences on the manipulator will make the accurate differential equations unworthy. Thus, a control algorithm will be introduced with PID controller which coefficients Kp, Kd, Ki are compensated by compensator found from optimization algorithm. With the new algorithm, the results have proved the stability and precision are better.

Fuzzy Adaptive Output Tracking Controller for a Class of Chaotic Systems

2012 ◽  
Vol 488-489 ◽  
pp. 1793-1797
Author(s):  
R. Ghasemi ◽  
M.B. Menhaj ◽  
B. Abdi
Keyword(s):  
Chaotic Systems ◽  
Closed Loop ◽  
Adaptive Controller ◽  
Closed Loop System ◽  
External Disturbances ◽  
Output Tracking ◽  
Fuzzy Adaptive Controller ◽  
Simulation Results ◽  
The Stability ◽  
Fuzzy Adaptive

This paper proposes a new method for designing a fuzzy adaptive controller for a class of non-affine nonlinear chaotic systems in which functions of the systems are unknown. The proposed method is aimed on a class of non-canonical non-affine nonlinear chaotic systems. The stability of the closed loop system is guaranteed based on Lyapunov’s theory. The proposed controller is robust against uncertainties and external disturbances. The simulation results show the effectiveness of the proposed method.

scholarly journals Velocity Controller for a Class of Vehicles

2017 ◽  
Vol 42 (1) ◽  
pp. 43-58 ◽  
Author(s):  
Przemyslaw Herman ◽  
Wojciech Adamski
Keyword(s):  
Tracking Control ◽  
Equations Of Motion ◽  
Control Process ◽  
Reduced Models ◽  
Gain Matrix ◽  
Velocity Error ◽  
Control Gain ◽  
Simulation Results ◽  
The Stability ◽  
Velocity Tracking

AbstractThis paper addresses the problem of velocity tracking control for various fully-actuated robotic vehicles. The presented method, which is based on transformation of equations of motion allows one to use, in the control gain matrix, the dynamical couplings existing in the system. Consequently, the dynamics of the vehicle is incorporated into the control process what leads to fast velocity error convergence. The stability of the system under the controller is derived based on Lyapunov argument. Moreover, the robustness of the proposed controller is shown too. The general approach is valid for 6 DOF models as well as other reduced models of vehicles. Simulation results on a 6 DOF indoor airship validate the described velocity tracking methodology.

scholarly journals Modeling and Research of the Controllability of Wheeled Tractors

2019 ◽  
Vol 9 (1) ◽  
pp. 2344-2351
Keyword(s):  
Optimal Control ◽  
Maximum Principle ◽  
Equations Of Motion ◽  
Lagrange Equations ◽  
External Disturbances ◽  
The Maximum Principle ◽  
Moving Direction ◽  
The Stability ◽  
Optimal Control Methods ◽  
The Pontryagin Maximum Principle

In this paper we considered the issues of controllability and stability of wheeled tractors on the slopes with the help of mathematical modeling and optimal control. The well-known methods of modeling and research for improving the stability of the tractor do not allow solving the problem of stable motion of the tractor on the slopes, as they do not provide sufficient correction of the moving direction, which depends on the character of external disturbances. The application of modern optimal control methods allows to investigate this problem at the design phase of the machine with using mathematical models. To solve the problem, we created the equations of motion of a wheeled tractor using the Lagrange equations of the second kind. On the basis of the equations of motion we developed models and algorithms for optimal control of a wheeled tractor. The necessary conditions for optimal control of the motion using the Pontryagin maximum principle were investigated. With the help of auxiliary functions of Hamilton-Pontryagin, we have determined the coefficients of stiffness and viscous resistance of wheel tractor tires. The boundary value problem of the maximum principle to determine the transient process motion of the tractor is formulated and on its basis the equations of horizontal and vertical oscillations of the tractor were solved at an uneven distribution of mass between the front and rear driven wheels and the coefficient of adhesion of the wheels and the lateral slip of the tractor in turning were calculated.

Tracking control problem in multiagent systems with Lipschitz nonlinearities and external disturbances

2018 ◽  
Vol 41 (3) ◽  
pp. 760-767 ◽  
Author(s):  
Ahmadreza Jenabzadeh ◽  
Behrouz Safarinejadian
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Tracking Control ◽  
Control Algorithm ◽  
Distributed Estimation ◽  
External Disturbances ◽  
Estimation And Control ◽  
The Stability ◽  
And Control ◽  
Disturbance Estimator

This paper investigates the tracking control problem of multiagent systems with Lipschitz nonlinearities and external disturbances that track a target with states that are not available to any of the agents. For this purpose, a distributed estimation and control algorithm (DECA) is firstly designed for each agent to estimate and track the target’s states. Then, the proposed DECA is extended based on a finite time disturbance estimator for tracking control in the presence of external disturbances. The stability analysis of suggested algorithms is also considered. Simulation examples illustrate the promising performance of the proposed algorithms.

Adaptive Virtual Autobalancing for a Magnetic Rotor With Unknown Mass Imbalance: Part I — Static Balancing

1995 ◽  
Author(s):  
Kai-Yew Lum ◽  
Sanjay P. Bhat ◽  
Dennis S. Bernstein ◽  
Vincent T. Coppola
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Control Algorithm ◽  
Equations Of Motion ◽  
Adaptive Controller ◽  
Magnetic Bearing ◽  
Static Balancing ◽  
Mass Imbalance ◽  
Control Scheme ◽  
Adaptive Control Scheme

Abstract An adaptive control scheme is proposed for stabilizing a planar rotor mounted on a magnetic bearing. The control strategy involves the concept of virtual autobalancing, where the control algorithm emulates the dynamics of a mechanical autobalancer by applying forces that are equivalent to the action of the autobalancer on the rotor. Equations of motion for a planar, torque-free, elastically suspended rotor equipped with an autobalancer are derived. Based on these equations, an adaptive controller for the magnetic rotor is formulated. The results are demonstrated in simulation.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

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