Collaborative Tracking Control Strategy for Autonomous Excavation of a Hydraulic Excavator

2021 ◽  
Vol 10 (1) ◽  
pp. 43
Author(s):  
Fattah Hanafi Sheikhha ◽  
Ali Afzalaghaeinaeini ◽  
Jaho Seo
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Position Control ◽  
Simulation Models ◽  
Hydraulic Excavator ◽  
Tracking Errors ◽  
Collaborative Tracking ◽  
Autonomous Excavation ◽  
Tip Position ◽  
Electrohydraulic Actuators

A hydraulic excavator consists of multiple electrohydraulic actuators (EHA). Due to uncertainties and nonlinearities in EHAs, it is challenging to devise a proper control strategy. To tackle this issue, a major goal of our study is to provide an efficient control strategy to minimize tracking errors of the bucket tip position for autonomous excavation. To accomplish the goal, the study offers a collaboration of PID and fuzzy controllers that are used to compensate for contour errors and achieve accurate actuator position control, respectively. Co-simulation models including control algorithms and hydraulic components were created using Matlab and Amesim to validate the performance of the designed controllers. Simulations indicate that the proposed method enables achieving accurate tracking control for autonomous excavation with small tracking errors despite the nonlinear characteristics of the hydraulic excavator system.

scholarly journals Hierarchical Distributed Motion Control for Multiple Linear Switched Reluctance Machines

2017 ◽  
Author(s):  
Bo Zhang ◽  
Jianping Yuan ◽  
Jianjun Luo ◽  
Xiaoyu Wu ◽  
Li Qiu ◽  
...  
Keyword(s):  
Motion Control ◽  
Control Strategy ◽  
Tracking Control ◽  
Position Control ◽  
Tracking Error ◽  
Control Network ◽  
Switched Reluctance ◽  
Switched Reluctance Machines ◽  
Reference Signals ◽  
Coordinated Tracking

This paper investigates a distributed, coordinated motion control network based on multiple direct-drive, linear switched reluctance machines (LSRMs). A hierarchical, two-level synchronization control strategy is proposed for the four LSRMs based motion control network. The high-level, reference signals agreement algorithm is first employed to correct the asynchronous behaviors of the position commands. Then, the low-level tracking synchronization method is applied for the collaborative position control of the four LSRMs. The proposed two-level, fault-tolerant control strategy eliminates the asynchrony of the reference signals and it also guarantees the coordinated tracking control performance of the four LSRMs. Experimental results demonstrate that effective coordinated tracking control can be ensured, based on successful agreement of reference signals and an absolute tracking error falling within 2 mm can be achieved.

A Neurodynamics Control Strategy for Real-Time Tracking Control of Autonomous Underwater Vehicles

2013 ◽  
Vol 67 (1) ◽  
pp. 113-127 ◽  
Author(s):  
Daqi Zhu ◽  
Xun Hua ◽  
Bing Sun
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Sliding Mode Controller ◽  
Tracking Errors ◽  
Biologically Inspired ◽  
Adaptive Sliding Mode Controller ◽  
Real Time Tracking

A biologically inspired neurodynamics-based tracking controller of underactuated Autonomous Underwater Vehicles (AUV) is proposed in this paper. The proposed control strategy includes a velocity controller with biological neurons and an adaptive sliding mode controller. The biological neurons are embedded into the backstepping velocity controller to eliminate the sharp speed jumps commonly existing in vehicles due to tracking errors changing suddenly. The outputs of the velocity controller are used as the command inputs of the sliding mode controller, and the thruster control constraints problems that are commonly seen in the backstepping control of AUV are solved by the proposed controller. Simulation results show that the control strategy achieved success in smoothly tracking AUV position and velocity.

scholarly journals Observer Based Region Tracking Control for Underwater Vehicles Without Velocity Measurement

2021 ◽  
Author(s):  
Xing Liu ◽  
Mingjun Zhang ◽  
Feng Yao ◽  
Zhenzhong Chu
Keyword(s):  
Control Strategy ◽  
Velocity Measurement ◽  
Tracking Control ◽  
Rbf Neural Network ◽  
Tracking Error ◽  
High Gain ◽  
Underwater Vehicles ◽  
State Observer ◽  
Tracking Errors ◽  
Region Tracking

Abstract This paper addresses the problem of region tracking control for underwater vehicles without velocity measurement in marine environment. For this case, an improved region tracking control strategy is proposed based on a Nussbaum state observer. In the proposed method, a Nussbaum state observer is developed to estimate the unmeasured velocity of the vehicle. And then an improved region tracking control strategy is presented by incorporating the estimated results of the state observer, such that the tracking errors satisfy the requirement of the prescribed boundaries. In addition, a RBF neural network is applied to approximate the unknown dynamics of the vehicle. It is verified that the estimated error and the tracking error are uniformly ultimately bounded. Finally, the proposed observer-based region tracking control strategy is applied on an underwater vehicle to perform simulation studies and compared with a traditional backstepping controller and a traditional region tracking controller based on a high-gain observer. The comparative simulation results demonstrate the effectiveness of the proposed region tracking control strategy.

Distributed control strategy for flexible link manipulators

Robotica ◽  
2014 ◽  
Vol 33 (4) ◽  
pp. 768-786 ◽  
Author(s):  
Raouf Fareh ◽  
Mohamad Saad ◽  
Maarouf Saad
Keyword(s):  
Distributed Control ◽  
Control Strategy ◽  
Tracking Control ◽  
Sliding Mode ◽  
Joint Space ◽  
Control Law ◽  
Flexible Link ◽  
Tracking Errors ◽  
Mode Technique ◽  
Sliding Mode Technique

SUMMARYThis paper presents a nonlinear distributed control strategy for flexible-link manipulators to solve the tracking control problem in the joint space and cancel vibrations of the links. First, the dynamic of an n-flexible-link manipulator is decomposed into n subsystems. Each subsystem has a pair of one joint and one link. The distributed control strategy is applied to each subsystem starting from the last subsystem. The strategy of control consists in controlling the nth joint and stabilizing the nth link by assuming that the remaining subsystems are stable. Then, going backward to the (n − 1)th subsystem, the same control strategy is applied to each corresponding joint-link subsystem until the first. Sliding mode technique is used to develop the control law of each subsystem and the global stability of the resulting tracking errors is proved using the Lyapunov technique. This algorithm was tested on a two-flexible-link manipulator and gave effective results, a good tracking performance, and capability to eliminate the links' vibrations.

scholarly journals Differential Movement Synchronous Tracking Control Strategy of Double-Shaking Table System Loading with Specimen

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Xiaojun Li ◽  
Juke Wang ◽  
Fangfang Li ◽  
Na Li ◽  
Haohua Huang
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Shaking Table ◽  
Frequency Bandwidth ◽  
Tracking Errors ◽  
Simulink Model ◽  
Maximum Value ◽  
Differential Movement ◽  
Synchronous Error ◽  
Tracking Strategy

Multisupport, multidimension, and nonuniform excitation seismic experiments have new requirements for shaking table array system in synchronous tracking control. Therefore, this article proposed a novel synchronous tracking strategy, differential movement synchronous tracking control (DMSTC) strategy, for double-shaking table system while taking the interaction between shaking tables and specimen into consideration. DMSTC Simulink model of the double-shaking table with specimen was established and simulations were conducted in various conditions. The results demonstrate the viability of the proposed DMSTC in that the frequency bandwidth of the double-shaking tables is expanded from 3.27 Hz to 64.57 Hz, the maximum value of differential movement synchronous error is decreased from 1.682 mm to 0.482 mm, and the maximum tracking errors of the two shaking tables decrease from 1.138 mm to 0.044 mm and from 1.030 mm to 0.497 mm, respectively.

scholarly journals A Hybrid Tracking Control Strategy for Nonholonomic Wheeled Mobile Robot Incorporating Deep Reinforcement Learning Approach

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 15592-15602
Author(s):  
Xueshan Gao ◽  
Rui Gao ◽  
Peng Liang ◽  
Qingfang Zhang ◽  
Rui Deng ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Mobile Robot ◽  
Control Strategy ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Learning Approach

scholarly journals Visual Tracking Control of Cable-Driven Hyper-Redundant Snake-Like Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 6224
Author(s):  
Qisong Zhou ◽  
Jianzhong Tang ◽  
Yong Nie ◽  
Zheng Chen ◽  
Long Qin
Keyword(s):  
Visual Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Adaptive Optimization ◽  
Tracking Errors ◽  
Kinematics Model ◽  
Compound Control ◽  
Original Intention ◽  
Control Scheme ◽  
Specific Geometry

The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists of numerous joint units connected adjacently driven by elastic materials with hyper-redundant DOF, performs flexible kinematic skills and competitive compound capability under complicated working circumstances. Nevertheless, the drawback of lacking the ability to perceive the environment to perform intelligently in complex scenarios leaves a lot to be improved, which is the original intention to introduce visual tracking feedback acting as an instructor. In this paper, a cable-driven snake-like robotic arm combined with a visual tracking technique is introduced. A visual tracking approach based on dual correlation filter is designed to guide the CHSM in detecting the target and tracing after its trajectory. Specifically, it contains an adaptive optimization for the scale variation of the tracking target via pyramid sampling. For the CHSM, an explicit kinematics model is derived from its specific geometry relationships and followed by a simplification for the inverse kinematics based on some assumption or limitation. A control scheme is brought up to combine the kinematics with visual tracking via the processing tracking errors. The experimental results with a practical prototype validate the availability of the proposed compound control method with the derived kinematics model.

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

Tracking Control of Non-Minimum Phase Systems Using Filtered Basis Functions: A NURBS-Based Approach

2015 ◽  
Author(s):  
Molong Duan ◽  
Keval S. Ramani ◽  
Chinedum E. Okwudire
Keyword(s):  
Tracking Control ◽  
Phase Error ◽  
Approximate Model ◽  
Basis Functions ◽  
Minimum Phase ◽  
Tracking Errors ◽  
Model Inversion ◽  
B Spline ◽  
Phase Systems ◽  
Zero Phase

This paper proposes an approach for minimizing tracking errors in systems with non-minimum phase (NMP) zeros by using filtered basis functions. The output of the tracking controller is represented as a linear combination of basis functions having unknown coefficients. The basis functions are forward filtered using the dynamics of the NMP system and their coefficients selected to minimize the errors in tracking a given trajectory. The control designer is free to choose any suitable set of basis functions but, in this paper, a set of basis functions derived from the widely-used non uniform rational B-spline (NURBS) curve is employed. Analyses and illustrative examples are presented to demonstrate the effectiveness of the proposed approach in comparison to popular approximate model inversion methods like zero phase error tracking control.

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