scholarly journals A New Adaptive Synergetic Control Design for Single Link Robot Arm Actuated by Pneumatic Muscles

Entropy ◽  
2020 ◽  
Vol 22 (7) ◽  
pp. 723
Author(s):  
Amjad J. Humaidi ◽  
Ibraheem Kasim Ibraheem ◽  
Ahmad Taher Azar ◽  
Musaab E. Sadiq
Keyword(s):  
Dynamic Performance ◽  
Optimization Technique ◽  
Control Design ◽  
Adaptive Controller ◽  
Design Parameters ◽  
Robot Arm ◽  
Synergetic Control Theory ◽  
Pneumatic Muscles ◽  
Optimal Dynamic ◽  
Synergetic Control

This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first established based on known system parameters. However, in real PAM-actuated systems, the uncertainties are inherited features in their parameters and hence an adaptive synergetic control algorithm is proposed and synthesized for a PAM-actuated robot arm subjected to perturbation in its parameters. The adaptive synergetic laws are developed to estimate the uncertainties and to guarantee the asymptotic stability of the adaptive synergetic controlled PAM-actuated system. The work has also presented an improvement in the performance of proposed synergetic controllers (classical and adaptive) by applying a modern optimization technique based on Particle Swarm Optimization (PSO) to tune their design parameters towards optimal dynamic performance. The effectiveness of the proposed classical and adaptive synergetic controllers has been verified via computer simulation and it has been shown that the adaptive controller could cope with uncertainties and keep the controlled system stable. The proposed optimal Adaptive Synergetic Controller (ASC) has been validated with a previous adaptive controller with the same robot structure and actuation, and it has been shown that the optimal ASC outperforms its opponent in terms of tracking speed and error.

Optimization of Electromagnetic Actuator Performance for High-Speed Valves

1986 ◽  
Vol 108 (3) ◽  
pp. 351-357
Author(s):  
J. P. Karidis ◽  
S. R. Turns
Keyword(s):  
Response Time ◽  
High Speed ◽  
Fuel Injection ◽  
Dynamic Performance ◽  
Optimization Technique ◽  
Control Valve ◽  
Design Parameters ◽  
Electromagnetic Actuators ◽  
Lumped Parameter ◽  
Injection Control

The dynamic performance of electromagnetic actuators driving on-off control valves is optimized numerically by combining hybrid lumped-parameter/distributed-parameter actuator models with an efficient constrained optimization technique. Two examples of constrained actuator optimization are presented where up to eight design parameters are optimized. One example problem involves minimizing variations in the response time of a fuel injection control valve caused by manufacturing and assembly tolerances, while the other example deals with minimizing the response time of a high-speed gas sampling valve.

Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances

Robotica ◽  
2016 ◽  
Vol 35 (11) ◽  
pp. 2139-2156 ◽  
Author(s):  
Tarapong Karnjanaparichat ◽  
Radom Pongvuthithum
Keyword(s):  
Error Bound ◽  
Sliding Mode ◽  
Reference Signal ◽  
Adaptive Controller ◽  
Time Frame ◽  
Physical Parameters ◽  
Robot Arm ◽  
Pneumatic Muscle ◽  
Adaptive Tracking Control ◽  
Pneumatic Muscles

SUMMARYIn this paper, we study the problem of adaptive position tracking for a multi-link robot driven by two opposing pneumatic muscle groups with additive disturbances. In contrast to widely used sliding mode control methods, the proposed controller is continuous and able to prevent chattering. All physical parameters of the robot and the pneumatic muscles, including pneumatic muscle coefficients, link lengths and moments of inertia are unknown and can be time-varying and the unknown additive disturbances can be discontinuous. Under these conditions, we prove that closed-loop trajectories of all of the joint positions can track any C1 joint reference signal. The joint errors will be within a prescribed error bound in a finite time. The adaptive controller only uses the reference signal, not its derivative. The continuous adaptive gain is one-dimensional. Simulations including a two-link robot arm with friction and realistic muscle models are presented to demonstrate the robustness of the adaptive control under severe changes of the system parameters. In all simulations, the joint positions can track C1 trajectories and all errors are within the prescribed error bound in the same time frame, even though the muscle parameters are vastly different.

scholarly journals Development of a New Adaptive Backstepping Control Design for a Non-Strict and Under-Actuated System Based on a PSO Tuner

Information ◽  
2019 ◽  
Vol 10 (2) ◽  
pp. 38 ◽  
Author(s):  
Amjad Humaidi ◽  
Mustafa Hameed
Keyword(s):  
Steady State ◽  
Dynamic Performance ◽  
Control Design ◽  
Adaptive Controller ◽  
Backstepping Control ◽  
Controlled System ◽  
Design Algorithm ◽  
Adaptive Control Strategy ◽  
The Stability ◽  
Transient And Steady State

In this work, a new adaptive block-backstepping control design algorithm was developed for an under-actuated model (represented by a ball–arc system) to enhance the transient and steady-state behaviors and to improve the robustness characteristics of the controlled system against parameter variation (load change and model uncertainty). For this system, the main mission of the proposed controller is to simultaneously hold the ball at the top of the arc and retain the cart at the required position. The stability of a controlled system based on the proposed adaptive controller was analyzed, and its globally asymptotic stability was proven based on the Lyapunov theorem. A comparative study of adaptive and non-adaptive block-backstepping controllers was conducted in relation to the transient, steady-state, and robustness characteristics. The effectiveness of the controller was verified via simulation within a MATLAB/SIMULINK environment. The simulated results show that the proposed adaptive control strategy could successfully stabilize the under-actuated ball–arc system, regardless of both the regulation problem and the tracking problem. This provides a better dynamic performance and a better load rejection capability, and it performs well in solving the uncertainty problem in the model parameter.

scholarly journals Optimal super-twisting sliding mode control design of robot manipulator: Design and comparison study

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142098152
Author(s):  
Ayad Q Al-Dujaili ◽  
Alaq Falah ◽  
Amjad J Humaidi ◽  
Daniel A Pereira ◽  
Ibraheem K Ibraheem
Keyword(s):  
Sliding Mode Control ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Dynamic Performance ◽  
Control Design ◽  
Design Parameters ◽  
Robust Tracking Control ◽  
Mode Control ◽  
Manipulator Design

This article presents a tracking control design for two-link robot manipulators. To achieve robust tracking control performance, a super-twisting sliding mode control (STSMC) is derived. The stability of the system based on the proposed approach is proved based on the Lyapunov theorem. However, one problem with the designed STSMC is to properly set its parameters during the design. Therefore, it is proposed a social spider optimization (SSO) to tune these design parameters to improve the dynamic performance of the robot manipulator controlled considering STSMC. The performance of the STSMC approach based on SSO is compared to that based on particle swarming optimization (PSO) in terms of dynamic performance and robustness characteristics. The effectiveness of the proposed optimal controllers is verified by simulations within the MATLAB software. It is verified that the performance given by SSO-based STSMC outperforms that resulting from PSO-based STSMC. The experimental results are conducted based on LabVIEW 2019 software to validate the numerical simulation.

scholarly journals Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot

2021 ◽  
Vol 54 (3-4) ◽  
pp. 303-323
Author(s):  
Amjad J Humaidi ◽  
Huda T Najem ◽  
Ayad Q Al-Dujaili ◽  
Daniel A Pereira ◽  
Ibraheem Kasim Ibraheem ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Trajectory Tracking ◽  
Fuzzy Logic Controller ◽  
Optimization Technique ◽  
Parallel Robot ◽  
Design Parameters ◽  
Social Spider ◽  
Social Spider Optimization ◽  
Interval Type

This paper presents control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of 3-RRR (3-Revolute-Revolute-Revolute) planar parallel robot. The design of Type-1 Fuzzy Logic Controller (T1FLC) is also considered for the purpose of comparison with the IT2FLC in terms of robustness and trajectory tracking characteristics. The scaling factors in the output and input of T1FL and IT2FL controllers play a vital role in improving the performance of the closed-loop system. However, using trial-and-error procedure for tuning these design parameters is exhaustive and hence an optimization technique is applied to achieve their optimal values and to reach an improved performance. In this study, Social Spider Optimization (SSO) algorithm is proposed as a useful tool to tune the parameters of proportional-derivative (PD) versions of both IT2FLC and T1FLC. Two scenarios, based on two square desired trajectories (with and without disturbance), have been tested to evaluate the tracking performance and robustness characteristics of proposed controllers. The effectiveness of controllers have been verified via numerical simulations based on MATLAB/SIMULINK programming software, which showed the superior of IT2FLC in terms of robustness and tracking errors.

Front steering design guidelines formulation for e-scooters considering the influence of sitting and standing riders on self-stability and safety performance

2021 ◽  
pp. 095440702199217
Author(s):  
Milan Paudel ◽  
Fook Fah Yap
Keyword(s):  
Preventive Measures ◽  
Recent Trend ◽  
Dynamic Performance ◽  
Design Guidelines ◽  
Safety Performance ◽  
Design Parameters ◽  
Single Track ◽  
Standing Posture ◽  
Last Mile ◽  
Current Design

E-scooters are a recent trend and are viewed as a sustainable solution to ease the first and last mile problem in modern transportation. However, an alarming rate of accidents, injuries, and fatalities have caused a significant setback for e-scooters. Many preventive measures and legislation have been put on the e-scooters, but the number of accidents and injuries has not reduced considerably. In this paper, the current design approach of e-scooters has been analyzed, and the most common range of design parameters have been identified. Thereafter, validated mathematical models have been used to quantify the performance of e-scooters and relate them with the safety aspects. Both standing and seated riders on e-scooters have been considered, and their influence on the dynamic performance has been analyzed and compared with the standard 26-in wheel reference safety bicycle. With more than 80% of the accidents and injuries occurring from falling or colliding with obstacles, this paper tries to correlate the dynamics of uncontrolled single-track vehicles with the safety performance of e-scooters. The self-stability, handling, and braking effect have been considered as major performance matrices. The analysis has shown that the current e-scooter designs are not as stable as the reference safety bicycle. Moreover, these e-scooters have been found unstable within the most common range of legislated riding velocity. The results corroborate with the general perception that the current designs of e-scooters are less stable, easy to lose control, twitchy, or wobbly to ride. Furthermore, the standing posture of the rider on the e-scooter has been found dangerous while braking to avoid any disturbances such as potholes or obstacles. Finally, the front steering design guidelines have been proposed to help modify the current design of e-scooters to improve the dynamic performance, hence the safety of the e-scooter riders and the surroundings.

Research on the Reliability of Box for Gear Test Bed

2011 ◽  
Vol 121-126 ◽  
pp. 1744-1748
Author(s):  
Xiang Yang Jin ◽  
Tie Feng Zhang ◽  
Li Li Zhao ◽  
He Teng Wang ◽  
Xiang Yi Guan
Keyword(s):  
Power Flow ◽  
Dynamic Performance ◽  
Three Dimensional ◽  
Design Parameters ◽  
The Finite Element Method ◽  
Test Bed ◽  
Kinematics Simulation ◽  
Beveloid Gears ◽  
Overall Performance

To determine the efficiency, load-bearing capacity and fatigue life of beveloid gears with intersecting axes, we design a mechanical gear test bed with closed power flow. To test the quality of its structure and predict its overall performance, we establish a three-dimensional solid model for various components based on the design parameters and adopt the technology of virtual prototyping simulation to conduct kinematics simulation on it. Then observe and verify the interactive kinematic situation of each component. Moreover, the finite element method is also utilized to carry out structural mechanics and dynamics analysis on some key components. The results indicate that the test bed can achieve the desired functionality, and the static and dynamic performance of some key components can also satisfy us.

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