scholarly journals Adaptive Task-Space Manipulator Control with Parametric Uncertainties in Kinematics and Dynamics

2020 ◽  
Vol 10 (24) ◽  
pp. 8806
Author(s):  
Chih-Chen Yih ◽  
Shih-Jeh Wu
Keyword(s):  
Adaptive Control ◽  
Joint Space ◽  
Design Parameters ◽  
Kinematics And Dynamics ◽  
Parametric Uncertainties ◽  
Task Space ◽  
Estimation Errors ◽  
Barbalat’S Lemma ◽  
Control Scheme ◽  
Adaptive Control Scheme

This paper aims to deal with the problem of robot tracking control in the presence of parametric uncertainties in kinematics and dynamics. We propose a simple and effective adaptive control scheme that includes adaptation laws for unknown constant kinematic and dynamic parameters. In addition, instead of convolution-type filtered differentiation, we designed a new observer to estimate velocity in the task space, and the proposed adaptive control requires no acceleration measurement in the joint space. Using the Lyapunov stability and Barbalat’s lemma, we show that by appropriately choosing design parameters, the tracking errors and estimation errors in task space can asymptotically converge to zero. Through numerical simulation on a two-link robot with a fixed camera, we illustrate the design procedures and demonstrate the feasibility of the proposed adaptive control scheme for the trajectory tracking of robot manipulators.

Adaptive Control of Nanowires Motion Using Electric Fields in Fluid Suspension

2019 ◽  
Author(s):  
Juan Wu ◽  
Kaiyan Yu
Keyword(s):  
Adaptive Control ◽  
Electric Fields ◽  
Adaptive Controller ◽  
Experimental Results ◽  
Parametric Uncertainties ◽  
Control Scheme ◽  
Complex Characterization ◽  
Adaptive Control Scheme

Abstract Automated, highly precise manipulation of nanowires and nanotubes is essential to achieve scalable nanomanufacturing. However, nanowires exhibit uncontrolled variations in their structures or compositions that can limit their functions and properties. In this paper, we present an adaptive controller for the simultaneous manipulation of multiple nanowires using electric fields. We then prove its stability in the presence of parametric uncertainties. Without complex characterization of each nanowire’s mobility, the nanowires can be steered to achieve precisely controlled positions. Simulation and experimental results confirm the proposed adaptive control scheme precisely, independently, and simultaneously manipulates the motion of multiple nanowires.

SYNCHRONIZING CASCADE-CONNECTED CHAOTIC SYSTEMS WITH UNCERTAINTIES AND BREAKING CHAOTIC CRYPTOSYSTEMS VIA A NOVEL ADAPTIVE CONTROL SCHEME

2005 ◽  
Vol 15 (08) ◽  
pp. 2457-2468 ◽  
Author(s):  
JUHNG-PERNG SU ◽  
CHUN-CHIEH WANG
Keyword(s):  
Adaptive Control ◽  
Secure Communication ◽  
Chaotic Systems ◽  
Control Method ◽  
Synthesis Method ◽  
Robust Adaptive Control ◽  
Barbalat’S Lemma ◽  
Control Scheme ◽  
Master System ◽  
Adaptive Control Scheme

This paper deals with synchronization problems of chaotic systems by applying a new adaptive variable structure control (AVSC) scheme. On the basis of Lyapunov synthesis method and Barbalat's Lemma, the proposed control law is shown to render the slave system asymptotically synchronized with the master system even though the parameters of the master system are unknown. A robust adaptive control scheme is presented to guarantee the robustness of the synchronization against bounded disturbances. Even for the case that the slave and master chaotic systems are not of the same type, the proposed AVSC may approximately null the synchronization error. We used an uncertain Rössler system, an uncertain Chua's circuit and an uncertain Duffing–Holmes oscillator as examples to illustrate the controller design. Both theoretical and simulation results strongly suggest that chaotic cryptosystems could be broken by the proposed adaptive control method. This reveals the fact that chaos-based cryptosystems may fail to achieve the secure communication.

Adaptive Control Scheme for Coupled Tank Process

2018 ◽  
pp. 89-95
Author(s):  
Vinodhini M.
Keyword(s):  
Adaptive Control ◽  
Nonlinear Behaviour ◽  
Simulation Studies ◽  
Input Output ◽  
Control Scheme ◽  
Direct Model ◽  
Multivariable Process ◽  
Model Reference Adaptive ◽  
Siso System ◽  
Adaptive Control Scheme

The objective of this paper is to develop a Direct Model Reference Adaptive Control (DMRAC) algorithm for a MIMO process by extending the MIT rule adopted for a SISO system. The controller thus developed is implemented on Laboratory interacting coupled tank process through simulation. This can be regarded as the relevant process control in petrol and chemical industries. These industries involve controlling the liquid level and the flow rate in the presence of nonlinearity and disturbance which justifies the use of adaptive techniques such as DMRAC control scheme. For this purpose, mathematical models are obtained for each of the input-output combinations using white box approach and the respective controllers are developed. A detailed analysis on the performance of the chosen process with these controllers is carried out. Simulation studies reveal the effectiveness of proposed controller for multivariable process that exhibits nonlinear behaviour.

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