Special Issue on 2nd International Conference on Recent Advances in Mechatronics (ICRAM'99)

2000 ◽  
Vol 12 (3) ◽  
pp. 193-193
Author(s):  
Toshiro Noritsugu ◽  
Keyword(s):  
Adaptive Control ◽  
Mobile Robots ◽  
Motion Control ◽  
Control Design ◽  
Robust Adaptive Control ◽  
Magnetic Suspension ◽  
Special Issue ◽  
Mechatronic Systems ◽  
Recent Advances ◽  
Systems Control

ICRAM'99 has been organized by UNESCO Chair on Mechatronics and Mechatronics Research and Application Center of Bogazici University, Istanbul in Turkey, during 24-26 May 1999, co-sponsored by IEEE (Institute of Electrical and Electronics Engineers) Industrial Electronics Society and IEEE Robotics and Automation Society. The purpose of this conference is to provide an international forum for the discussion on the most recent advances in the field of mechatronics. The program of the conference contains three kinds of papers, 4 plenary papers, 44 long papers and 90 regular papers. The long papers have been published by Springer-Verlag (ISBN 981-4021-34-2), under the name Recent Advances in Mechatronics (Eds. Okyay Kaynak, Sabri Tosunoglu and Marcelo Ang Jr.). The long papers have been presented in the following 12 sessions: Advances in Robotics, Motion control 1, Intelligent Techniques in Mechatronics 1, Virtual Techniques and Telecommanding, Robust Adaptive Control, Design of Mechanical System 1, Fault Detection and Inspection 1, Motion Control 2, Intelligent Techniques in Mechatronics 2, Analysis of Mechatronic Systems, Mobile Robots 1 and Biomedical Applications. For the regular papers, Modeling and Simulation, Trajectory Planning and Control, Variable-Structure Control Systems, Control of Mechatronic Systems, Production Automation, Machine Vision, Adaptive Control, Design of Mechatronic Systems 2, Measurement Technology, Intelligent Systems, Control of Robot Manipulators, Flexible Manufacturing Systems, Education and Training in Mechatronics, Neural Networks and Applications, Fuzzy Systems, Hydraulic and Pneumatic Applications, Mobile Robots 2, Control Applications and Sensors and Actuators. The papers have been submitted to the conference from 30 countries in the world. From Japan 14 papers have been presented, one plenary paper, S long papers and 8 regular papers. This special issue comprises 10 papers edited from the conference papers contributed from Japan. Each paper has been revised and updated for this issue from the original conference paper to describe the recent status of research and development of mechatronics in Japan. The included papers are concerned with some important and attractive subjects such as mobile robot, robot behavior evolution, nanoelectromechanical system, magnetic suspension, human symbiotic robot, stereovision, force control of robot, soft pneumatic actuator and so on. I would like to thank all the authors for their valuable contributions to this issue.

Unfalsified control design using a generalized cost function for a quadrotor

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Azam Hokmabadi ◽  
Mahdi Khodabandeh
Keyword(s):  
Adaptive Control ◽  
Cost Function ◽  
Sliding Mode ◽  
Control Design ◽  
Robust Adaptive Control ◽  
Operating Conditions ◽  
System Model ◽  
Reference Trajectory ◽  
Content Type ◽  
Generalized Cost

Purpose The purpose of this paper is to design a controller for a quadrotor only by using input–output data without a need for the system model. Design/methodology/approach Tracking control for the quadrotor is considered by using unfalsified control, which is one of the most recent strategies of robust adaptive control. The main assumption in unfalsified control design is that there is no access to the system model. Also, ideal path tracking and controlling the quadrotor are been paid attention to in the presence of external disturbances and uncertainties. First, unfalsified control method is introduced which is a data-driven and model-free approach in the field of adaptive control. Next, model of the quadrotor and unfalsified control design for the quadrotor are presented. Second, design of a control bank consisting of four proportional integral derivative controllers and a sliding mode controller is carried out. Findings A particular innovation on an unfalsified control algorithm in this paper is use of a generalized cost function in the hysteresis switching algorithm to find the best controller. Originality/value Finally, the performance and robustness of the designed controllers are investigated by simulation studies in various operating conditions including reference trajectory changes, facing to wind disturbance, uncertainty of the system and changes in payload, which show acceptable performances.

scholarly journals Adaptive Control Design and Stability Analysis of Robotic Manipulators

Actuators ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 89 ◽  
Author(s):  
Bin Wei
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Stability Analysis ◽  
Motion Control ◽  
Force Control ◽  
Control Design ◽  
Robotic Manipulators ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Model Reference Adaptive

In this paper, the author presents the adaptive control design and stability analysis of robotic manipulators based on two main approaches, i.e., Lyapunov stability theory and hyperstability theory. For the Lyapunov approach, the author presents the adaptive control of a 2-DOF (degrees of freedom) robotic manipulator. Furthermore, the adaptive control technique and Lyapunov theory are subsequently applied to the end-effector motion control and force control, as in most cases, one only considers the motion control (e.g., position control, trajectory tracking). To make the robot interact with humans or the environment, force control must be considered as well to achieve a safe working environment. For the hyperstability approach, a control system is developed through integrating a PID (proportional–integral–derivative) control system and a model reference adaptive control (MRAC) system, and also the convergent behavior and characteristics under the situation of the PID system, model reference adaptive control system, and PID+MRAC control system are compared.

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