scholarly journals Position Domain Synchronization Control For Robotic Manipulators

2021 ◽  
Author(s):  
Vangjel Pano
Keyword(s):  
Time Domain ◽  
Robotic Manipulators ◽  
Synchronization Control ◽  
Control Law ◽  
Control Input ◽  
Contour Tracking ◽  
Hybrid Controller ◽  
Reference Motion ◽  
Control Scheme ◽  
Control Schemes

Developed in this thesis is a new control law focusing on the improvement of contour tracking of robotic manipulators. The new control scheme is a hybrid controller based on position domain control (PDC) and position synchronization control (PSC). On PDC, the system’s dynamics are transformed from time domain to position domain via a one-to-one mapping and the position of the master axis motion is used as reference instead of time. The elimination of the reference motion from the control input improves contouring performance relative to time domain controllers. Conversely, PSC seeks to reduce the error of the systems by diminishing the synchronization error between each agent of the system. The new control law utilizes the aforementioned techniques to maximize the contour performance. The Lyapunov method was used to prove the proposed controller’s stability. The new control law was compared to existing control schemes via simulations of linear and nonlinear contours, and was shown to provide good tracking and contouring performances.

scholarly journals Position Domain Synchronization Control For Robotic Manipulators

2021 ◽  
Author(s):  
Vangjel Pano
Keyword(s):  
Time Domain ◽  
Robotic Manipulators ◽  
Synchronization Control ◽  
Control Law ◽  
Control Input ◽  
Contour Tracking ◽  
Hybrid Controller ◽  
Reference Motion ◽  
Control Scheme ◽  
Control Schemes

Developed in this thesis is a new control law focusing on the improvement of contour tracking of robotic manipulators. The new control scheme is a hybrid controller based on position domain control (PDC) and position synchronization control (PSC). On PDC, the system’s dynamics are transformed from time domain to position domain via a one-to-one mapping and the position of the master axis motion is used as reference instead of time. The elimination of the reference motion from the control input improves contouring performance relative to time domain controllers. Conversely, PSC seeks to reduce the error of the systems by diminishing the synchronization error between each agent of the system. The new control law utilizes the aforementioned techniques to maximize the contour performance. The Lyapunov method was used to prove the proposed controller’s stability. The new control law was compared to existing control schemes via simulations of linear and nonlinear contours, and was shown to provide good tracking and contouring performances.

Position Domain Synchronization Control of Multi-Degrees of Freedom Robotic Manipulator

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
P. R. Ouyang ◽  
V. Pano
Keyword(s):  
Degrees Of Freedom ◽  
Lyapunov Method ◽  
Original System ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Synchronization Control ◽  
Control Law ◽  
Contour Tracking ◽  
Motion System ◽  
Contour Control

In this paper, a new position domain synchronization control (PDSC) law is proposed for contour control of multi-DOF nonlinear robotic manipulators with the main goal of improving contour tracking performance. The robotic manipulator is treated as a master-slave motion system, where the position of the master motion is used as an independent reference via equidistant sampling, and the slave motions are described as functions of the master motion. To build this relationship, the dynamics of the original system is transformed from time domain to position domain. The new control introduces synchronization and coupled errors in the control law to further coordinate the master and slave motions. Stability analysis is performed based on the Lyapunov method for the proposed PDSC, and simulations are conducted to verify the effectiveness of the developed control system.

A Gain Scheduled Sliding Mode Control Scheme Using Filtering Techniques With Applications to Multilink Robotic Manipulators

2000 ◽  
Vol 122 (4) ◽  
pp. 641-649 ◽  
Author(s):  
Jian-Xin Xu ◽  
Ya-Jun Pan ◽  
Tong-Heng Lee
Keyword(s):  
Time Domain ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Switching Control ◽  
Control Input ◽  
Control Scheme ◽  
Low Pass ◽  
Equivalent Control ◽  
Low Pass Filters ◽  
Gain Scheduled

In this paper, a gain scheduled sliding mode control (SMC) scheme is proposed for tracking control tasks of multilink robotic manipulators. In the new scheme, filtering techniques play the key role in acquiring equivalent control signals and scheduling the switching control gain automatically. Once the system enters the sliding motion, two classes of low-pass filters are introduced to work concurrently for the purpose of acquiring equivalent control, reducing the switching gain effectively, and as a result eliminating chattering. By virtue of equivalent control theory, one class of filters is designed to capture the “average” profile of the switching quantity, which is in proportion to the desired control input. Meanwhile, another class of low-pass filters is added to scale down the gain of the switching control. The convergence property of the proposed control scheme is rigorously analyzed in time domain and the frequency domain knowledge can be easily incorporated into the construction of the two classes of filters. Excellent tracking performance is achieved with the direct manipulation of switching control input using filtering technology and with the integration of both time domain and frequency domain system knowledge in controller design. [S0022-0434(00)01604-X]

Adaptive Control of Robot Manipulators Including Motor Dynamics

1995 ◽  
Vol 209 (3) ◽  
pp. 207-217
Author(s):  
H Yu ◽  
S Lloyd
Keyword(s):  
Adaptive Control ◽  
Control Structure ◽  
Robot Manipulators ◽  
Control Law ◽  
Task Space ◽  
Control Scheme ◽  
Control Schemes ◽  
The Stability ◽  
Adaptive Control Law ◽  
Motor Dynamics

An adaptive control scheme for robot manipulators including motor dynamics is proposed in this paper. The proposed scheme avoids the assumption that the values of motor parameters are known which is required in reference (13). An exponential control law is first developed under the assumption of no uncertainty. This forms a controller structure for the adaptive control. Using this control structure, a full-order adaptive control law is proposed to overcome parameter uncertainty for both robot link and motor. The stability analysis is in the Lyapunov stability sense. The method is further extended to the task space. Extensive simulations are performed to compare the different control schemes.

A dual-loop robust controller for DC electro-mechanical servo system

2015 ◽  
Vol 06 (03) ◽  
pp. 1550026
Author(s):  
Tianpeng He ◽  
Shu Li ◽  
Xiaodong Liu
Keyword(s):  
Sliding Mode ◽  
Servo System ◽  
Differential Method ◽  
Control Input ◽  
Tracking Accuracy ◽  
Loop Control ◽  
Control Scheme ◽  
Control Schemes ◽  
Parameter Perturbations ◽  
System Robustness

In order to further improve the tracking performances of the conventional disturbance observer (DOB)-based control schemes, a dual-loop robust control scheme is proposed for DC electro-mechanical servo system. The outer-loop sliding mode controller (SMC) is designed in order to deal with the impacts from the remainder equivalent disturbances, which is due to the inadequate estimation of the inner-loop DOB. Meanwhile, the existence of DOB can reduce the switching gain of SMC law, which can suppress the high-frequency chattering of control input to a certain extent. Moreover, an approximate differential method is employed in order to reliably acquire the differential information in a noisy environment. From the experiment results on a DC motor servo system, it is presented that the proposed dual-loop control scheme can effectively improve the tracking performances with respect to higher tracking accuracy and stronger system robustness against external disturbances and parameter perturbations, compared with the traditional DOB+PD control scheme.

scholarly journals Hybrid PD sliding mode control for robotic manipulators

2021 ◽  
Author(s):  
John M Acob
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
A Priori ◽  
Robotic Manipulators ◽  
Pid Controllers ◽  
Control Law ◽  
Mode Control ◽  
Control Schemes ◽  
Added Benefit ◽  
The Stability

This thesis proposes a new control law for the purpose of providing improved tracking and contouring performance of robotic manipulators. The rationale behind the development of this controller involves the hybridization of existing proportional-derivative (PD) and sliding mode control (SMC) laws. The new control law retains similar ease of implementation as traditional PD/PID controllers with the added benefit of a nonlinear switching component inherent from sliding mode control systems. In addition, it eliminates the need for a priori knowledge of the system dynamics that are required in standard SMC laws. The stability analysis of the proposed control law is conducted through the Lyapunov method. Simulations using linear and nonlinear contours, and under varying dynamic conditions are performed in order to compare its performances to existing control schemes. The proposed hybrid PD-SMC control law is proven to provide good, robust tracking and contouring performance

The Application of Learning Impedance Control to Exoskeleton Arm

2012 ◽  
Vol 463-464 ◽  
pp. 900-904
Author(s):  
Jie Liu ◽  
Yu Wang ◽  
He Ting Tong ◽  
Ray P.S. Han
Keyword(s):  
Neural Network ◽  
Impedance Control ◽  
Rbf Neural Network ◽  
Robotic Manipulators ◽  
Iterative Learning ◽  
Artificial Muscles ◽  
Experimental Setup ◽  
Control Input ◽  
Control Scheme ◽  
Pneumatic Artificial Muscles

In this paper, we discuss the application of learning impedance control scheme to exoskeleton arm driven by pneumatic artificial muscles (PAM), for assisting in the rehabilitation of patients who suffer from debilitating illness. An iterative learning impedance control problem for robotic manipulators is analyzed, proposed and solved. The target impedance reference modifies a desired trajectory according to the force signals and position signals of the joint. The desired control input of learning impedance control was estimated by radial basis function (RBF) neural network incorporated experience database. The curves of experiment result on the experimental setup show that the algorithm is successful also in the application of exoskeleton arm.

scholarly journals Hybrid PD sliding mode control for robotic manipulators

2021 ◽  
Author(s):  
John M Acob
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
A Priori ◽  
Robotic Manipulators ◽  
Pid Controllers ◽  
Control Law ◽  
Mode Control ◽  
Control Schemes ◽  
Added Benefit ◽  
The Stability

This thesis proposes a new control law for the purpose of providing improved tracking and contouring performance of robotic manipulators. The rationale behind the development of this controller involves the hybridization of existing proportional-derivative (PD) and sliding mode control (SMC) laws. The new control law retains similar ease of implementation as traditional PD/PID controllers with the added benefit of a nonlinear switching component inherent from sliding mode control systems. In addition, it eliminates the need for a priori knowledge of the system dynamics that are required in standard SMC laws. The stability analysis of the proposed control law is conducted through the Lyapunov method. Simulations using linear and nonlinear contours, and under varying dynamic conditions are performed in order to compare its performances to existing control schemes. The proposed hybrid PD-SMC control law is proven to provide good, robust tracking and contouring performance

scholarly journals Nonlinear Current-Mode Control of SCIG Wind Turbines

Energies ◽  
2020 ◽  
Vol 14 (1) ◽  
pp. 55
Author(s):  
Nicholas Hawkins ◽  
Bhagyashri Bhagwat ◽  
Michael L. McIntyre
Keyword(s):  
Current Mode ◽  
Nonlinear Controller ◽  
Flux Observer ◽  
Current Mode Control ◽  
Mode Control ◽  
Squirrel Cage ◽  
Control Scheme ◽  
Control Schemes ◽  
Rotor Flux ◽  
Squirrel Cage Induction Generator

In this paper, a nonlinear controller is proposed to manage the rotational speed of a full-variable Squirrel Cage Induction Generator wind turbine. This control scheme improves upon tractional vector controllers by removing the need for a rotor flux observer. Additionally, the proposed controller manages the performance through turbulent wind conditions by accounting for unmeasurable wind torque dynamics. This model-based approach utilizes a current-based control in place of traditional voltage-mode control and is validated using a Lyapunov-based stability analysis. The proposed scheme is compared to a linear vector controller through simulation results. These results demonstrate that the proposed controller is far more robust to wind turbulence than traditional control schemes.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

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