Modeling and Control of Electric Linear Actuator for Driving Knee Joint of a Lower Body Exoskeleton

2020 ◽  
pp. 50-67
Author(s):  
Ganesh Roy ◽  
Hano Jacob Saji ◽  
Subir Das ◽  
Subhasis Bhaumik
Keyword(s):  
Knee Joint ◽  
Sliding Mode ◽  
Ease Of Use ◽  
Control Action ◽  
Assistive Device ◽  
Linear Actuator ◽  
Modeling And Control ◽  
Human Knee ◽  
Engineering And Technology ◽  
And Control

The actuator is an integrated part of every robotic system which can actuate the joint for the necessary movement of the device. Depending on the energy conversion mechanism, the actuators are subdivided into three classes, namely electric, pneumatic, and hydraulic. The electric actuators are very popular in the field of engineering and technology due to their ease of use and low maintenance. In this chapter, an electric linear actuator (Manufactured by TiMOTION, Model: TA1) has been modeled by considering its each and every associated physical parameter and also simulated in MATLAB Simscape to observe its performance. Also, different control actions like PID, LQR, and Sliding mode methods have been studied to select the best control action for the actuator. Finally, as an application of the developed actuator model, a one DOF robotic assistive device called human knee exoskeleton has been designed in the MATLAB Simscape. It has been tested that the knee joint trajectory has been followed by the actuator with suitable control action.

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

A one linear actuator hopping robot: modeling and control

2003 ◽  
Vol 17 (8) ◽  
pp. 709-737 ◽  
Author(s):  
Son Kuswadi ◽  
Aki Ohnishi ◽  
Akiko Takahashi ◽  
Mitsuji Sampei ◽  
Shigeki Nakaura
Keyword(s):  
Linear Actuator ◽  
Modeling And Control ◽  
Hopping Robot ◽  
And Control ◽  
Robot Modeling

scholarly journals Comparative Study of the Grid Side Converter’s Control during a Voltage Dip

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Hind Elaimani ◽  
Ahmed Essadki ◽  
Noureddine Elmouhi ◽  
Rachid Chakib
Keyword(s):  
Reactive Power ◽  
Sliding Mode ◽  
Control Strategies ◽  
Modeling And Control ◽  
Wind Energy Conversion ◽  
Voltage Dip ◽  
Doubly Fed ◽  
Grid Side ◽  
Grid Side Converter ◽  
And Control

The modeling and control of a wind energy conversion system based on the Doubly Fed Induction Generator DFIG is the discussed theme in this paper. The purpose of this system was to control active and reactive power converted; this control is ensured thanks to the control of the two converters. The proposed control strategies are controlled by PI regulators and the sliding mode technique. In the present work a comparison of the robustness of the 2 controls of the grid side converter (GSC) during a voltage dip is shown. The simulation is carried out using the Matlab/Simulink software with a 300 kW generator.

Dynamic Modeling and Control Techniques for a Quadrotor

2015 ◽  
pp. 408-454
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

MODELING AND CONTROL DESIGN OF AN ANGUILLIFORM ROBOTIC FISH

2012 ◽  
Vol 03 (04) ◽  
pp. 1250018 ◽  
Author(s):  
JIAN-XIN XU ◽  
XUE-LEI NIU ◽  
QIN-YUAN REN
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Robotic Fish ◽  
Torque Control ◽  
Underactuated System ◽  
Parameter Uncertainties ◽  
Modeling And Control ◽  
Mode Control ◽  
And Control

In this paper, the modeling and control design of a biomimetic robotic fish is presented. The Anguilliform robotic fish consists of N links and N - 1 joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints, Lagrangian formulation is used to obtain the dynamics of the fish model. The computed torque control method is applied first, which can provide satisfactory tracking responses for fish joints. Since this robotic fish is essentially an underactuated system, the reference trajectories for the orientation of the N links are planned in such a way that, at a neighborhood of the equilibrium point, the tracking task of N angles can be achieved by using N - 1 joint torques. To deal with parameter uncertainties that exist in the actual environment, sliding mode control is adopted. Considering feasibility and complexity issues, a simplified sliding mode control algorithm is given. A four-link robotic fish is modeled and simulated, and the results validate the effectiveness of reference planning and the proposed controllers.

Modeling and Control of Automated Pipe Hoisting in Oil and Gas Well Construction

2015 ◽  
Author(s):  
Parham Pournazari ◽  
Pradeepkumar Ashok ◽  
Eric van Oort
Keyword(s):  
Dynamic Model ◽  
Oil And Gas ◽  
Sliding Mode ◽  
Drill String ◽  
Trajectory Design ◽  
Modeling And Control ◽  
Gas Drilling ◽  
Drilling Operations ◽  
Hoisting System ◽  
And Control

This paper presents a robust control algorithm for automatic hoisting of a drill string in oil and gas drilling operations. We demonstrate an iterative scheme for trajectory design and present a lumped dynamic model of the hoisting system. The trajectory is used along with the dynamic model to design a hybrid sliding mode and gain scheduled PI controller to deal with the frictional nonlinearities of the system. The simulation results demonstrate the feasibility of this approach in optimally performing the pipe hoisting task.

Modeling and Control of a Magnetostrictive Tool Servo System

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
Witoon Panusittikorn ◽  
Paul I. Ro
Keyword(s):  
Sliding Mode ◽  
Magnetic Hysteresis ◽  
Mechanical Strain ◽  
Loop Control ◽  
Modeling And Control ◽  
Current Controller ◽  
Control Scheme ◽  
Highly Nonlinear ◽  
Advanced Control ◽  
And Control

A magnetostrictive actuator offers a long mechanical strain output in a broad bandwidth at a cost of a highly nonlinear magnetic hysteresis. Full utilization of this actuator in precision manufacturing requires a feedback loop as well as an advanced control scheme. A robust control scheme using sliding mode control with a variable switching gain was tailored to the nonlinear transducer. Nominal feedforward current controller that drives the magnetostriction was based on the inverse anhysteresis model. An additional switching gain based on the Lyapunov stability condition is implemented to restrain uncertainties. Compared to a traditional closed-loop control design, the proposed algorithm experimentally showed a greatly enhanced performance.

Modeling and control of a novel facade cleaning robot with four-ducted fan drive

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142098572
Author(s):  
Xiao-Peng Li ◽  
Xin Wang ◽  
Bin Feng
Keyword(s):  
Sliding Mode ◽  
Load Capacity ◽  
Modeling And Control ◽  
Ducted Fan ◽  
Cleaning Robot ◽  
Modern Cities ◽  
Movement Mechanism ◽  
Stable Performance ◽  
Cleaning Robots ◽  
And Control

With the development of modern cities, the demand for cleaning glass curtain walls in urban skyscrapers is increasing, and therefore, many researches on facade cleaning robots have been carried out in the past few decades. In this article, a novel type of facade cleaning robot based on four-ducted fan is proposed. To improve the load capacity of the robot, the lifting and horizontal movement are, respectively, supported by an independent lifting mechanism and a lateral movement mechanism. Unlike the previous passive and active suction, the powerful suction power of the robot is provided by the four-ducted fan. Meanwhile, the obstacle-climbing force is caused by the forward of the four-ducted fan that improves the crossing obstacle ability. In addition, an incremental sliding mode algorithm is applied for controlling the posture when the robot crosses obstacles, which can ensure the stable performance of the cleaning robot under disturbance. Some simulations and experiments are conducted and the results demonstrate the effectiveness and robustness of the designed facade cleaning robot.

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