scholarly journals Contour Tracking Control of a Linear Motors-Driven X-Y-Y Stage Using Auto-Tuning Cross-Coupled 2DOF PID Control Approach

2020 ◽  
Vol 10 (24) ◽  
pp. 9036
Author(s):  
Syuan-Yi Chen ◽  
Zi-Jie Chien ◽  
Wei-Yen Wang ◽  
Hsin-Han Chiang
Keyword(s):  
Tracking Control ◽  
Optimization Technique ◽  
Tracking Error ◽  
Experimental Comparison ◽  
Contour Tracking ◽  
Control Approach ◽  
Linear Motors ◽  
Contour Control ◽  
Comparison Results ◽  
Auto Tuning

Linear motors (LMs) are widely used in numerous industry automation where precise and fast motions are required to convert electric energy into linear actuation without the need of any switching mechanism. This study aims to develop a control strategy of auto-tuning cross-coupled two-degree-of-freedom proportional-integral-derivative (ACC2PID) to achieve extremely high-precision contour control of a LMs-driven X-Y-Y stage. Three 2PID controllers are developed to control the mover positions in individual axes while two compensators are designed to eliminate the contour errors in biaxial motions. Furthermore, an improved artificial bee colony algorithm is employed as a powerful optimization technique so that all the control parameters can be concurrently evaluated and optimized online while ensuring the non-fragility of the proposed controller. In this way, the tracking error in each axis and contour errors of the biaxial motions can be concurrently minimized, and further, satisfactory positioning accuracy and synchronization performance can be achieved. Finally, the experimental comparison results confirm the validity of the proposed ACC2PID control system regarding the multi-axis contour tracking control of the highly uncertain and nonlinear LMs-driven X-Y-Y stage.

Adaptive multi-dimensional Taylor network tracking control for a class of switched nonlinear systems with input nonlinearity

2020 ◽  
Vol 42 (13) ◽  
pp. 2482-2491
Author(s):  
Shan-Liang Zhu ◽  
De-Yu Duan ◽  
Lei Chu ◽  
Ming-Xin Wang ◽  
Yu-Qun Han ◽  
...  
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Low Cost ◽  
Tracking Error ◽  
Switched Nonlinear Systems ◽  
Nonlinear Functions ◽  
Input Nonlinearity ◽  
Control Approach ◽  
Adaptive Tracking Control ◽  
Control Scheme

In this paper, a multi-dimensional Taylor network (MTN)-based adaptive tracking control approach is proposed for a class of switched nonlinear systems with input nonlinearity. Firstly, the input nonlinearity is assumed to be bounded by a sector interval. Secondly, with the help of MTNs approximating the unknown nonlinear functions, a novel adaptive MTN control scheme has the advantages of low cost, simple structure and real time feature is developed via backstepping technique. It is shown that the tracking error finally converges to a small domain around the origin and all signals in the closed-loop system are bounded. Finally, two examples are given to demonstrate the effectiveness of the proposed control scheme.

scholarly journals Observer-Based Decentralized Tracking Control with Preview Action for a Class of Nonlinear Interconnected Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Xiao Yu
Keyword(s):  
Tracking Control ◽  
Controller Design ◽  
Tracking Error ◽  
State Feedback Control ◽  
Control Action ◽  
Linear Matrix ◽  
Reference Trajectory ◽  
Integral Control ◽  
Control Approach ◽  
Output Tracking Control

In this paper, for the first time, the observer-based decentralized output tracking control problem with preview action for a class of interconnected nonlinear systems is converted into a regulation problem for N augmented error subsystems composed of the tracking error dynamics, the difference equation of the state observer, and the available future reference trajectory dynamics associated with each individual subsystem. The developed innovative formulation of an observer-based decentralized preview tracking control scheme consists of the integral control action, the observer-based state feedback control action, and the preview action of the desired trajectory. The controller design feasibility conditions are formulated in terms of a linear matrix inequality (LMI) by using the Lyapunov function approach to ensure the existence of the suggested observer-based decentralized control strategy. Furthermore, both decentralized observer gain matrices and decentralized tracking controller gain matrices can be efficiently and simultaneously computed through a one-step LMI procedure. Stability analysis of the closed-loop augmented subsystem is carried out to illustrate that all tracking errors asymptotically converge toward zero. Finally, a numerical example is provided to demonstrate the effectiveness of the suggested control approach.

New Approach of Tracking Control for a Class of Non-Minimum Phase Linear Systems

2007 ◽  
Author(s):  
Bo Xie ◽  
Bin Yao
Keyword(s):  
Linear Systems ◽  
Trajectory Planning ◽  
Tracking Control ◽  
Controller Design ◽  
Tracking Error ◽  
Trajectory Design ◽  
Minimum Phase ◽  
Control Approach ◽  
Tracking Controller ◽  
Phase Systems

The paper presents a new tracking control approach for a class of non-minimum phase linear systems. The proposed approach consists of two parts: trajectory planning and tracking controller design. The trajectory planning is solved as an optimization problem to improve the achievable transient performance under the fundamental constraints associated with perfect tracking of non-minimum phase systems. The recently proposed adaptive robust tracking controller for a class of non-minimum phase systems is then applied to guarantee that the tracking error dynamics can be stabilized with bounded internal states. The effectiveness of the proposed approach is illustrated through simulation on tracking control of a second order non-minimum phase linear system. Further works are underway to extend the proposed control strategy and trajectory design to a class of non-minimum phase nonlinear systems.

Multi-dimensional Taylor network-based adaptive control for nonlinear systems with unknown parameters

2020 ◽  
pp. 014233122095335
Author(s):  
Lei Chu ◽  
Yuqun Han ◽  
Shanliang Zhu ◽  
Mingxin Wang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Control Method ◽  
Controller Design ◽  
Tracking Error ◽  
Unknown Parameters ◽  
Nonlinear Characteristics ◽  
Control Approach ◽  
Closed Loop Systems ◽  
Adaptive Laws

This paper presents an adaptive multi-dimensional Taylor network (MTN) control approach for a class of nonlinear systems with unknown parameters. MTN is employed to identify unknown nonlinear characteristics existing in the system, and then a novel adaptive MTN tracking control method is proposed, via backstepping technique. In the controller design, double adaptive laws are designed and appropriate Lyapunov functions are chosen to overcome the difficulties caused by the unknown parameters. The designed controller can guarantee that all the variables in the closed-loop systems are bounded and the tracking error can be arbitrarily small. Finally, simulation results are presented to verify the effectiveness of the proposed approach.

scholarly journals Observer-Based Tracking Control for Polysolenoid Linear Motor with Unknown Disturbance Load

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 23 ◽  
Author(s):  
Hong Quang Nguyen
Keyword(s):  
Tracking Control ◽  
Direct Method ◽  
Tracking Error ◽  
Linear Motor ◽  
Lyapunov Direct Method ◽  
Mechanical Motion ◽  
Linear Motors ◽  
Permanent Magnet Linear Motor ◽  
Unknown Disturbance ◽  
Velocity Tracking

Linear motors have been playing a crucial role in mechanical motion systems due to its ability to provide a straight motion directly without mediate mechanical actuators. This paper investigates tracking control problems of Polysolenoid Linear Motor, which is a particular type of permanent magnet linear motor in a tubular structure. In order to deal with unmeasurable velocity, our method proposes a novel observer guaranteed asymptotic convergence of the observer errors. Then, based on observed velocity, our method proposes controllers for position-velocity and current tracking control concerning an unknown disturbance load problem by using Lyapunov direct method. The proposed controllers ensure that the position-velocity tracking error converges to arbitrarily small values by adjusting control parameters. Finally, the validity and effectiveness of our approach are shown in illustrative examples.

scholarly journals Disturbance observer–based event-triggered tracking control of networked robot manipulator

2020 ◽  
Vol 53 (5-6) ◽  
pp. 892-898
Author(s):  
Wei Bu ◽  
Ting Li ◽  
Jun Yang ◽  
Yang Yi
Keyword(s):  
Tracking Control ◽  
Measurement Errors ◽  
Disturbance Observer ◽  
Robot Manipulator ◽  
External Disturbance ◽  
Tracking Error ◽  
Control Approach ◽  
Event Triggering ◽  
Small Set ◽  
Event Triggered

We investigate the event-triggered tracking control of networked manipulator in the presence of external disturbance and a variety of system uncertainties. The event-triggered controller is designed by the nonlinear disturbance observer–based control approach, which can dynamically compensate for both errors caused by disturbances and the undesirable effects caused by event-triggering rules. A rigorous Lyapunov stability analysis method is proposed to show that the boundedness of all the signals in the closed-loop system can be guaranteed while in the absence of the input-to-state stability assumption related to measurement errors, tracking error can be constrained to an arbitrarily small set without escaping. Finally, by some simulation results, the feasibility and effectiveness of the proposed control approach is demonstrated.

Design, analysis and modelling of a hybrid controller for serial robotic manipulators

Robotica ◽  
2016 ◽  
Vol 35 (9) ◽  
pp. 1888-1905 ◽  
Author(s):  
Dan Zhang ◽  
Bin Wei
Keyword(s):  
Pid Controller ◽  
Robotic Manipulators ◽  
Convergence Speed ◽  
Model Reference ◽  
Control Approach ◽  
Hybrid Controller ◽  
Comparison Results ◽  
Convergence Performance ◽  
Model Reference Adaptive ◽  
Better Than

SUMMARYWhen the end-effector of a robotic arm grasps different payload masses, the output of joint motion will vary. By using a model reference adaptive control approach, the payload variation effect can be solved. This paper describes the design for a hybrid controller for serial robotic manipulators by combining a PID controller and a model reference adaptive controller (MRAC) in order to further improve the accuracy and joint convergence speed performance. The convergence performance of the PID controller, the MRAC and the PID+MRAC hybrid controller for 1-DOF, 2-DOF and subsequently 3-DOF manipulators is compared. The comparison results show that the convergence speed and its performance for the MRAC and the PID+ MRAC controllers is better than that of the PID controller, and the convergence performance for the hybrid control is better than that of the MRAC control.

Sign in / Sign up

Export Citation Format

Share Document