scholarly journals Parameter Adaptive Sliding Mode Trajectory Tracking Strategy With Initial Value Identification For Swing In A Hydraulic Construction Robot

2021 ◽  
Author(s):  
Jingwei hou ◽  
Dingxuan Zhao ◽  
Zhuxin Zhang
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Adaptive Estimation ◽  
Estimation Algorithm ◽  
Hydraulic Cylinder ◽  
Robust Adaptive Control ◽  
Identification Algorithm ◽  
Initial Value ◽  
Tracking Strategy ◽  
Parameter Adaptive

Abstract A novel trajectory tracking strategy is developed for the swing DOF with double actuated cylinder in a hydraulic construct robot. When the work object is grabbed and unload, the inertia parameter of swing varies greatly and the estimation algorithm is commonly insufficient. Aiming at this feature, a novel nonlinear hydraulic dynamics model is established for the double actuated hydraulic cylinder in the system and a robust adaptive control strategy with parameter adaptive estimation is designed to improve the trajectory tracking performance. Aiming at the problem of insufficient convergence speed of the identification algorithm, a method of robotic gravity identification combined with stereo vision information is proposed to obtain the mass and moment of inertia parameters of the working object so that the initial value is close to the real value. Simulations and experiments are presented to validate the effect of the novel strategy.

scholarly journals Parameter Adaptive Sliding Mode Trajectory Tracking Strategy with Initial Value Identification for the Swing in a Hydraulic Construction Robot

2022 ◽  
Author(s):  
Jingwei hou ◽  
Dingxuan Zhao ◽  
Zhuxin Zhang
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Estimation Algorithm ◽  
Robust Adaptive Control ◽  
Identification Algorithm ◽  
Initial Value ◽  
Robust Adaptive ◽  
Adaptive Control Strategy ◽  
The Moment ◽  
Tracking Strategy

Abstract A novel trajectory tracking strategy is developed for a double actuated swing in a hydraulic construction robot. Specifically, a nonlinear hydraulic dynamics model of a double actuated swing is established, and a robust adaptive control strategy is designed to enhance the trajectory tracking performance. When an object is grabbed and unloaded, the inertia of a swing considerably changes, and the performance of the estimation algorithm is generally inadequate. Thus, it is necessary to establish an algorithm to identify the initial value of the moment of inertia of the object. To this end, this paper proposes a novel initial value identification algorithm based on a two-DOF robot gravity force identification method combined with computer vision information. The performance of the identification algorithm is enhanced. Simulations and experiments are performed to verify the effect of the novel control scheme.

scholarly journals Variable Structure Compensation PID Control of Asymmetrical Hydraulic Cylinder Trajectory Tracking

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Difei Liu ◽  
Zhiyong Tang ◽  
Zhongcai Pei
Keyword(s):  
Trajectory Tracking ◽  
Pid Control ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Hydraulic Cylinder ◽  
Control Value ◽  
Equivalent Control ◽  
Asymmetrical Hydraulic Cylinder ◽  
The Stability

A novel variable structure compensation PID control, VSCPID in short, is proposed for trajectory tracking of asymmetrical hydraulic cylinder systems. This new control method improves the system robustness by adding a variable structure compensation term to the conventional PID control. The variable structure term is designed according to sliding mode control method and therefore could compensate the disturbance and uncertainty. Meanwhile, the proposed control method avoids the requirements for exact knowledge of the systems associated with equivalent control value in SMC that means the controller is simple and easy to design. The stability analysis of this approach is conducted with Lyapunov function, and the global stability condition applied to choose control parameters is provided. Simulation results show the VSCPID control can achieve good tracking performances and high robustness compared with the other control methods under the uncertainties and varying load conditions.

Demagnetization Faults Robust Detection Method Based on an Adaptive Sliding Mode Observer for PMSM

2016 ◽  
Vol 20 (7) ◽  
pp. 1127-1134 ◽  
Author(s):  
Changfan Zhang ◽  
◽  
Miaoying Zhang ◽  
Jing He ◽  
Rui Shao ◽  
...  
Keyword(s):  
Permanent Magnet ◽  
Sliding Mode ◽  
Adaptive Estimation ◽  
Permanent Magnet Synchronous Motor ◽  
Lyapunov Stability Theory ◽  
Estimation Algorithm ◽  
Sliding Mode Observer ◽  
Robust Detection ◽  
Adaptive Sliding Mode ◽  
Demagnetization Faults

To detect demagnetization faults in real time based on an adaptive sliding mode observer, we used a permanent-magnet synchronous motor (PMSM). Demagnetization faults are first modeled for the PMSM using coordinates oriented to the magnetic field. To solve demagnetization faults problems as multiple parameters change, we used adaptive and sliding mode variable structure control and designed an adaptive sliding mode observer. The adaptive estimation algorithm of the permanent magnet flux is given and the observer’s stability is proven by Lyapunov stability theory. Simulation and experimental results demonstrate the feasibility and effectiveness of our proposal.

Tire Rolling Kinematics Model for an Intelligent Tire Based on an Accelerometer

2020 ◽  
Vol 48 (4) ◽  
pp. 287-314
Author(s):  
Yan Wang ◽  
Zhe Liu ◽  
Michael Kaliske ◽  
Yintao Wei
Keyword(s):  
Elastic Deformation ◽  
Estimation Algorithm ◽  
Force Sensor ◽  
Euler Method ◽  
Rolling Contact ◽  
Body Motion ◽  
Identification Algorithm ◽  
Active Perception ◽  
Kinematics Model ◽  
Ring Model

ABSTRACT The idea of intelligent tires is to develop a tire into an active perception component or a force sensor with an embedded microsensor, such as an accelerometer. A tire rolling kinematics model is necessary to link the acceleration measured with the tire body elastic deformation, based on which the tire forces can be identified. Although intelligent tires have attracted wide interest in recent years, a theoretical model for the rolling kinematics of acceleration fields is still lacking. Therefore, this paper focuses on an explicit formulation for the tire rolling kinematics of acceleration, thereby providing a foundation for the force identification algorithms for an accelerometer-based intelligent tire. The Lagrange–Euler method is used to describe the acceleration field and contact deformation of rolling contact structures. Then, the three-axis acceleration vectors can be expressed by coupling rigid body motion and elastic deformation. To obtain an analytical expression of the full tire deformation, a three-dimensional tire ring model is solved with the tire–road deformation as boundary conditions. After parameterizing the ring model for a radial tire, the developed method is applied and validated by comparing the calculated three-axis accelerations with those measured by the accelerometer. Based on the features of acceleration, especially the distinct peak values corresponding to the tire leading and trailing edges, an intelligent tire identification algorithm is established to predict the tire–road contact length and tire vertical load. A simulation and experiments are conducted to verify the accuracy of the estimation algorithm, the results of which demonstrate good agreement. The proposed model provides a solid theoretical foundation for an acceleration-based intelligent tire.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

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