scholarly journals Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite

2021 ◽  
Vol 11 (17) ◽  
pp. 8077
Author(s):  
Xiaodong Fu ◽  
Haiping Ai ◽  
Li Chen
Keyword(s):  
Dynamic Models ◽  
Sliding Mode ◽  
Joint Space ◽  
Space Robot ◽  
Singular Perturbation Theory ◽  
Stabilization Control ◽  
Repetitive Learning ◽  
Flexible Base ◽  
The Impact ◽  
Mode Stabilization

During the process of satellite capture by a flexible base–link–joint space robot, the base, joints, and links vibrate easily and also rotate in a disorderly manner owing to the impact torque. To address this problem, a repetitive learning sliding mode stabilization control is proposed to stabilize the system. First, the dynamic models of the fully flexible space robot and the captured satellite are established, respectively, and the impact effect is calculated according to the motion and force transfer relationships. Based on this, a dynamic model of the system after capturing is established. Subsequently, the system is decomposed into slow and fast subsystems using the singular perturbation theory. To ensure that the base attitude and the joints of the slow subsystem reach the desired trajectories, link vibrations are suppressed simultaneously, and a repetitive learning sliding mode controller based on the concept of the virtual force is designed. Moreover, a multilinear optimal controller is proposed for the fast subsystem to suppress the vibration of the base and joints. Two sub-controllers constitute the repetitive learning sliding mode stabilization control for the system. This ensures that the base attitude and joints of the system reach the desired trajectories in a limited time after capturing, obtain better control quality, and suppress the multiple flexible vibrations of the base, links and joints. Finally, the simulation results verify the effectiveness of the designed control strategy.

scholarly journals Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 185079-185092
Author(s):  
Ngo Phong Nguyen ◽  
Hyondong Oh ◽  
Yoonsoo Kim ◽  
Jun Moon ◽  
Jun Yang ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Stabilization Control ◽  
Rotary Inverted Pendulum ◽  
Mode Stabilization

scholarly journals Buffer Compliance Control of Space Robots Capturing a Non-Cooperative Spacecraft Based on Reinforcement Learning

2021 ◽  
Vol 11 (13) ◽  
pp. 5783
Author(s):  
Haiping Ai ◽  
An Zhu ◽  
Jiajia Wang ◽  
Xiaoyan Yu ◽  
Li Chen
Keyword(s):  
Reinforcement Learning ◽  
Hybrid System ◽  
Dynamic Models ◽  
Compliant Mechanism ◽  
Euler Method ◽  
Space Robot ◽  
Compliance Control ◽  
The Impact ◽  
Associative Search ◽  
Stable Control

Aiming at addressing the problem that the joints are easily destroyed by the impact torque during the process of space robot on-orbit capturing a non-cooperative spacecraft, a reinforcement learning control algorithm combined with a compliant mechanism is proposed to achieve buffer compliance control. The compliant mechanism can not only absorb the impact energy through the deformation of its internal spring, but also limit the impact torque to a safe range by combining with the compliance control strategy. First of all, the dynamic models of the space robot and the target spacecraft before capture are obtained by using the Lagrange approach and Newton-Euler method. After that, based on the law of conservation of momentum, the constraints of kinematics and velocity, the integrated dynamic model of the post-capture hybrid system is derived. Considering the unstable hybrid system, a buffer compliance control based on reinforcement learning is proposed for the stable control. The associative search network is employed to approximate unknown nonlinear functions, an adaptive critic network is utilized to construct reinforcement signal to tune the associative search network. The numerical simulation shows that the proposed control scheme can reduce the impact torque acting on joints by 76.6% at the maximum and 58.7% at the minimum in the capturing operation phase. And in the stable control phase, the impact torque acting on the joints were limited within the safety threshold, which can avoid overload and damage of the joint actuators.

scholarly journals Integrated Fixed Time Sliding Mode Control for Motion and Vibration of Space Robot with Fully Flexible Base–Link–Joint

2021 ◽  
Vol 11 (24) ◽  
pp. 11685
Author(s):  
Xiaodong Fu ◽  
Haiping Ai ◽  
Li Chen
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fixed Time ◽  
Space Robot ◽  
External Interference ◽  
Flexible Links ◽  
Mode Control ◽  
Flexible Base ◽  
Slow Subsystem ◽  
Flexible Vibrations

The dynamic modeling, motion control and flexible vibration active suppression of space robot under the influence of flexible base, flexible link and flexible joint are explored, and motion and vibration integrated fixed-time sliding mode control of fully flexible system is designed. The flexibility of the base and joints are equivalent to the vibration effect of linear springs and torsion springs. The flexible links are regarded as Euler–Bernoulli simply supported beams, which are analyzed by the hypothetical mode method, and the dynamic model of the fully flexible space robot is established by using the Lagrange equation. Then, the singular perturbation theory is used to decompose the model into slow subsystem including rigid motion and the link flexible vibrations, and fast subsystems including the base and the joint flexible vibrations. A fixed time sliding mode control based on hybrid trajectory is designed for the slow subsystem to ensure that the base and joints track the desired trajectory in a limited time while achieving vibration suppression on the flexible links. For the fast subsystem, linear quadratic optimal control is used to suppress the flexible vibration of the base and joints. The simulation results show that the controller proposed in the paper can make the system state converge within a fixed time, is robust to model uncertainty and external interference, and can effectively suppress the flexible vibration of the base, links, and joints.

Monetary policy and the effect of the transfer of oil prices to inflation

2020 ◽  
pp. 41-50
Author(s):  
Ph. S. Kartaev ◽  
I. D. Medvedev
Keyword(s):  
Monetary Policy ◽  
Inflation Targeting ◽  
Dynamic Models ◽  
Oil Prices ◽  
Oil Price ◽  
Oil Price Shocks ◽  
Negative Effects ◽  
Price Shocks ◽  
Policy Regime ◽  
The Impact

The paper examines the impact of oil price shocks on inflation, as well as the impact of the choice of the monetary policy regime on the strength of this influence. We used dynamic models on panel data for the countries of the world for the period from 2000 to 2017. It is shown that mainly the impact of changes in oil prices on inflation is carried out through the channel of exchange rate. The paper demonstrates the influence of the transition to inflation targeting on the nature of the relationship between oil price shocks and inflation. This effect is asymmetrical: during periods of rising oil prices, inflation targeting reduces the effect of the transfer of oil prices, limiting negative effects of shock. During periods of decline in oil prices, this monetary policy regime, in contrast, contributes to a stronger transfer, helping to reduce inflation.

scholarly journals Online Reviews and Product Sales: The Role of Review Visibility

2021 ◽  
Vol 16 (4) ◽  
pp. 638-669
Author(s):  
Miriam Alzate ◽  
Marta Arce-Urriza ◽  
Javier Cebollada
Keyword(s):  
Decision Making ◽  
Dynamic Models ◽  
Generalized Method Of Moments ◽  
Online Reviews ◽  
Consumer Decision Making ◽  
Product Sales ◽  
The Impact ◽  
The Relationship ◽  
The Empirical Analysis

When studying the impact of online reviews on product sales, previous scholars have usually assumed that every review for a product has the same probability of being viewed by consumers. However, decision-making and information processing theories underline that the accessibility of information plays a role in consumer decision-making. We incorporate the notion of review visibility to study the relationship between online reviews and product sales, which is proxied by sales rank information, studying three different cases: (1) when every online review is assumed to have the same probability of being viewed; (2) when we assume that consumers sort online reviews by the most helpful mechanism; and (3) when we assume that consumers sort online reviews by the most recent mechanism. Review non-textual and textual variables are analyzed. The empirical analysis is conducted using a panel of 119 cosmetic products over a period of nine weeks. Using the system generalized method of moments (system GMM) method for dynamic models of panel data, our findings reveal that review variables influence product sales, but the magnitude, and even the direction of the effect, vary amongst visibility cases. Overall, the characteristics of the most helpful reviews have a higher impact on sales.

Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization

2017 ◽  
Vol 9 (3) ◽  
Author(s):  
Jingchen Hu ◽  
Tianshu Wang
Keyword(s):  
Impact Force ◽  
Robot Manipulator ◽  
Analytical Formula ◽  
Joint Space ◽  
Collision Problem ◽  
Spatial Operator ◽  
Inertia Ellipsoid ◽  
The Impact ◽  
Maximum Minimum ◽  
Simple Analytical Formula

This paper studies the collision problem of a robot manipulator and presents a method to minimize the impact force by pre-impact configuration designing. First, a general dynamic model of a robot manipulator capturing a target is established by spatial operator algebra (SOA) and a simple analytical formula of the impact force is obtained. Compared with former models proposed in literatures, this model has simpler form, wider range of applications, O(n) computation complexity, and the system Jacobian matrix can be provided as a production of the configuration matrix and the joint matrix. Second, this work utilizes the impulse ellipsoid to analyze the influence of the pre-impact configuration and the impact direction on the impact force. To illustrate the inertia message of each body in the joint space, a new concept of inertia quasi-ellipsoid (IQE) is introduced. We find that the impulse ellipsoid is constituted of the inertia ellipsoids of the robot manipulator and the target, while each inertia ellipsoid is composed of a series of inertia quasi-ellipsoids. When all inertia quasi-ellipsoids exhibit maximum (minimum) coupling, the impulse ellipsoid should be the flattest (roundest). Finally, this paper provides the analytical expression of the impulse ellipsoid, and the eigenvalues and eigenvectors are used as measurements to illustrate the size and direction of the impulse ellipsoid. With this measurement, the desired pre-impact configuration and the impact direction with minimum impact force can be easily solved. The validity and efficiency of this method are verified by a PUMA robot and a spatial robot.

scholarly journals NonlinearL2-Gain Analysis of Hybrid Systems in the Presence of Sliding Modes and Impacts

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
T. Osuna ◽  
O. E. Montano ◽  
Y. Orlov
Keyword(s):  
Sliding Mode ◽  
Numerical Study ◽  
Sufficient Conditions ◽  
Disturbance Attenuation ◽  
Sliding Modes ◽  
Time Dynamics ◽  
Attenuation Level ◽  
Disturbance Factor ◽  
Disturbance Attenuation Level ◽  
The Impact

TheL2-gain analysis is extended towards hybrid mechanical systems, operating under unilateral constraints and admitting both sliding modes and collision phenomena. Sufficient conditions for such a system to be internally asymptotically stable and to possessL2-gain less than ana priorigiven disturbance attenuation level are derived in terms of two independent inequalities which are imposed on continuous-time dynamics and on discrete disturbance factor that occurs at the collision time instants. The former inequality may be viewed as the Hamilton-Jacobi inequality for discontinuous vector fields, and it is separately specified beyond and along sliding modes, which occur in the system between collisions. Thus interpreted, the former inequality should impose the desired integral input-to-state stability (iISS) property on the Filippov dynamics between collisions whereas the latter inequality is invoked to ensure that the impact dynamics (when the state trajectory hits the unilateral constraint) are input-to-state stable (ISS). These inequalities, being coupled together, form the constructive procedure, effectiveness of which is supported by the numerical study made for an impacting double integrator, driven by a sliding mode controller. Desired disturbance attenuation level is shown to satisfactorily be achieved under external disturbances during the collision-free phase and in the presence of uncertainties in the transition phase.

Dynamic vacuum pressure tracking control with high-speed on-off valves

2018 ◽  
Vol 232 (10) ◽  
pp. 1325-1336 ◽  
Author(s):  
Gang Yang ◽  
Kai Chen ◽  
Linglong Du ◽  
Jingmin Du ◽  
Baoren Li
Keyword(s):  
Mass Flow ◽  
Pulse Width ◽  
High Speed ◽  
Pulse Width Modulation ◽  
Sliding Mode ◽  
Tracking System ◽  
Vacuum Pressure ◽  
Chamber Pressure ◽  
Asymmetric Structure ◽  
The Impact

A vacuum pressure tracking system with high-speed on-off valves is a discontinuous system due to the discrete nature of high-speed on-off valves. Chamber pressure changes in the system are determined by the mass flow rates during the processes of charging and discharging. Here, a sliding mode controller with an asymmetric compensator based on average mass flow rate is designed for accurate vacuum pressure tracking. The controller output signal is converted into the duty cycles of the high-speed on-off valves via a pulse width modulation pulsing scheme. Owing to the extreme asymmetry of the processes, an asymmetric structure comprising one high-speed on-off valve in the charging unit and three high-speed on-off valves in the discharging unit is applied to weaken the impact of asymmetry. In addition, an asymmetric compensator is also designed to modify the pulse width modulation pulsing scheme to further eliminate the asymmetry. Experimental results indicate that the proposed controller achieves better performance in pressure tracking with the asymmetric compensator overcoming process asymmetry and enhancing system robustness.

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