Analysis of Elastic Motion Stability of Flexible Manipulator Arm Based on Roth Criterion of Control System

2014 ◽  
Vol 620 ◽  
pp. 330-336
Author(s):  
Guang Rui Liu ◽  
Lan Fen Niu ◽  
Xin Tian
Keyword(s):  
Lagrange Equation ◽  
The State ◽  
Flexible Manipulator ◽  
Rotational Inertia ◽  
Control Input ◽  
Motion Stability ◽  
Manipulator Arm ◽  
Physics Model ◽  
The Stability ◽  
And Control

In order to study the elastic motion stability of flexible manipulator arm , to analyze the effect of the end position addition mass and rotary inertia on the elastic motion stability ,and to compute the maximum dynamic allowable payload , the physics model of a flexible manipulator arm is established , the differential equation of elastic motion of the flexible manipulator arm is solved using the method of the separation of time and space and the method of Laplace transformation , the dynamic model of flexible manipulator arm carried addition mass on its end position is established ,simplified and truncated using Lagrange equation . the state space expression and transfer function are established with the state variable and control input and output variable designated , the elastic motion stability rule is built upon and simplified using Roth criterion . The influence of the end position addition mass and articulation rotational inertia of flexible manipulator arm on its elastic motion stability is analyzed using the stability rule and the dynamic maximum allowable payload of flexible manipulator arm on its end position is computed in order to guarantee its elastic motion stability .

Analysis of Elastic Motion Stability of Flexible Manipulator Arm Based on Lyapunov Stability Theory

2014 ◽  
Vol 620 ◽  
pp. 321-329
Author(s):  
Guang Rui Liu ◽  
Wen Bo Zhou ◽  
Rong Fu Liu
Keyword(s):  
Lyapunov Stability ◽  
Stability Theory ◽  
Lagrange Equation ◽  
Lyapunov Stability Theory ◽  
The State ◽  
Flexible Manipulator ◽  
Rotational Inertia ◽  
Control Input ◽  
Motion Stability ◽  
Manipulator Arm

In order to study the elastic motion stability of flexible manipulator arm , to compute the maximum dynamic allowable payload , the partial differential equation of elastic motion of the flexible manipulator arm is solved using the method of Laplace transformation , the dynamic model of flexible manipulator arm carried addition mass on its end position is established ,simplified and truncated using Lagrange equation . the state space expression is established with the state variable and control input and output variable designated , the elastic motion stability rule is built upon and simplified using Lyapunov stability theory . The influence of the end position addition mass and articulation rotational inertia of flexible manipulator arm on its elastic motion stability is analyzed using the stability rule , and the dynamic maximum allowable payload of flexible manipulator arm on its end position is computed in order to guarantee its elastic motion stability . this study is important to the design of robot mechanical manipulator and corresponding drive control system .

Three-dimensional adaptive fixed-time guidance law against maneuvering targets with impact angle constraints and control input saturation

2021 ◽  
pp. 014233122110598
Author(s):  
Fei Ma ◽  
Yunjie Wu ◽  
Siqi Wang ◽  
Xiaofei Yang ◽  
Yueyang Hua
Keyword(s):  
Sliding Mode ◽  
Input Saturation ◽  
Three Dimensional ◽  
Fixed Time ◽  
Impact Angle ◽  
Guidance System ◽  
Control Input ◽  
Guidance Law ◽  
The Stability ◽  
And Control

This paper presents an adaptive fixed-time guidance law for the three-dimensional interception guidance problem with impact angle constraints and control input saturation against a maneuvering target. First, a coupled guidance model formulated by the relative motion equation is established. On this basis, a fixed-time disturbance observer is employed to estimate the lumped disturbances. With the help of this estimation technique, the adaptive fixed-time sliding mode guidance law is designed to accomplish accurate interception. The stability of the closed-loop guidance system is proven by the Lyapunov method. Simulation results of different scenarios are executed to validate the effectiveness and superiority of the proposed guidance law.

INTERACTION OF DOMINANT PARTY WITH ETHNIC GROUPS IN COMPETITIVE AUTHORITARIANISM IN MALAYSIA

2020 ◽  
Vol 14 (3) ◽  
pp. 107-113
Author(s):  
Tatiana Lavrova ◽  
Keyword(s):  
Ethnic Groups ◽  
Historical Context ◽  
The State ◽  
Power Sharing ◽  
Competitive Authoritarianism ◽  
Dominant Party ◽  
State Apparatus ◽  
The Status ◽  
The Stability ◽  
And Control

The author covers the question of the stability of competitive authoritarianism in Malaysia. In this case, such a regime is particularly stable, possibly due to the developed and institutionalized model of interaction between the dominant party and ethnic groups, implemented in the conditions of the polyethnic composition of the state. It was crucial to take into account the historical context of the British colonization of Malaysia, which had led to the influx of migrants, and the presence of a political party in power for 61 years, which was practically merged with the state apparatus and fully represented only one ethnic group. "Ethnic outbidding" implemented by the dominant party UMNO provided a numerically greater population with benefits in exchange for support of the ruling party. Simultaneously, the incorporation of ethnic groups into the state's political structure and the use of the power-sharing model allowed UMNO to act as an umbrella party and to maintain the status quo. The unspoken Treaty, first, was based on granting the privilege to the indigenous Malay population, and, second, protected the interests of non-Malays. Thus, granting bumiputera and non-Malays certain privileges, the establishment was able to consolidate a non-democratic regime and control over complex Malaysian society.

scholarly journals Vibration Control of Blade Section Based on Sliding Mode PI Tracking Method and OPC Technology

2019 ◽  
Vol 2019 ◽  
pp. 1-12 ◽  
Author(s):  
Tingrui Liu
Keyword(s):  
Vibration Control ◽  
Sliding Mode ◽  
Engineering Application ◽  
Control Input ◽  
Pi Method ◽  
Opc Technology ◽  
Practical Engineering ◽  
Blade Section ◽  
The Stability ◽  
And Control

Vibration control of the blade section of a wind turbine is investigated based on the sliding mode proportional-integral (SM-PI) method, i.e., sliding mode control (SMC) based on a PI controller. The structure is modeled as a 2D pretwisted blade section integrated with calculation of structural damping, which is subjected to flap/lead-lag vibrations of instability. To facilitate the hardware implementation of the control algorithm, the SM-PI method is applied to realize tracking for limited displacements and velocities. The SM-PI algorithm is a novel SMC algorithm based on the nominal model. It combines the effectiveness of the sliding mode algorithm for disturbance control and the stability of PID control for practical engineering application. The SM-PI design and stability analysis are discussed, with superiority and robustness and convergency control demonstrated. An experimental platform based on human-computer interaction using OPC technology is implemented, with position tracking for displacement and control input signal illustrated. The platform verifies the feasibility and effectiveness of the SM-PI algorithm in solving practical engineering problems, with online tuning of PI parameters realized by applying OPC technology.

Modeling and Control of a Rotary Crane

1985 ◽  
Vol 107 (3) ◽  
pp. 200-206 ◽  
Author(s):  
Y. Sakawa ◽  
A. Nakazumi
Keyword(s):  
Feedback Control ◽  
Equilibrium State ◽  
Open Loop ◽  
The State ◽  
Control Input ◽  
Loop Control ◽  
Modeling And Control ◽  
Control Scheme ◽  
Rotary Crane ◽  
And Control

In this paper we first derive a dynamical model for the control of a rotary crane, which makes three kinds of motion (rotation, load hoisting, and boom hoisting) simultaneously. The goal is to transfer a load to a desired place in such a way that at the end of transfer the swing of the load decays as quickly as possible. We first apply an open-loop control input to the system such that the state of the system can be transferred to a neighborhood of the equilibrium state. Then we apply a feedback control signal so that the state of the system approaches the equilibrium state as quickly as possible. The results of computer simulation prove that the open-loop plus feedback control scheme works well.

Friction Identification Using Evolution Strategies and Robust Control of Positioning Tables

1999 ◽  
Vol 121 (4) ◽  
pp. 619-624 ◽  
Author(s):  
Seon-Woo Lee ◽  
Jong-Hwan Kim
Keyword(s):  
Static Friction ◽  
Velocity Model ◽  
Friction Model ◽  
Evolution Strategies ◽  
Linear Feedback ◽  
Control Input ◽  
Identification Technique ◽  
Friction Identification ◽  
The Stability ◽  
And Control

This paper presents an identification technique using evolution strategies (ES) for an integrated friction model of a positioning table. The friction model is based on Karnopp’s friction-velocity model with the rising static friction and spring-like property. Using the (μ + λ)-ES, the system parameters are identified with the experimental input and output data. The proposed control law consists of a conventional linear feedback control input, a friction compensation term and a sliding control input. The proposed control scheme can guarantee the stability of the overall system, even in the presence of the external disturbances and the modeling error between the real friction and the identified model. Experiments on an positioning table, called X-Y table, demonstrate the effectiveness of the proposed identification and control schemes.

Influence of backlash in gear reducer on dynamic of single-link manipulator arm

Robotica ◽  
2014 ◽  
Vol 33 (08) ◽  
pp. 1671-1685 ◽  
Author(s):  
Jian-Wei Lu ◽  
Xiao-Ming Sun ◽  
Alexander F. Vakakis ◽  
Lawrence A. Bergman
Keyword(s):  
Dynamic Response ◽  
Dynamic Modeling ◽  
Excitation Frequency ◽  
Planetary Gear ◽  
Flexible Manipulator ◽  
Lumped Mass ◽  
Modeling And Control ◽  
Single Link ◽  
Manipulator Arm ◽  
And Control

SUMMARYThe dynamic modeling of a flexible single-link manipulator arm with consideration of backlash in the planetary gear reducer at the joint is presented, and the influence of backlash on the dynamic response of the system is evaluated. A 2K-H planetary gear reducer with backlash was employed as an example to discuss the dynamic modeling of the sub-model of the planetary gear reducer, and the sub-model of the planetary gear reducer was established based on the lumped mass method. The flexible manipulator was regarded as an Euler--Bernoulli beam, and the dynamic model of the flexible manipulator arm with backlash in the planetary gear reducer was determined from Lagrange's equations. Based on the this model, the influence of the backlash in the planetary gear reducer and excitation frequency on the dynamic response of the system were evaluated through simulation, and the results showed that the dynamic response of the system is sensitive to the backlash and the excitation frequency simultaneously, which provides a theoretical foundation for improvement of dynamic modeling and control of the flexible manipulator arm.

Koopman Operators for Estimation and Control of Dynamical Systems

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Samuel E. Otto ◽  
Clarence W. Rowley
Keyword(s):  
Numerical Methods ◽  
Autonomous Systems ◽  
The State ◽  
Annual Review ◽  
Publication Date ◽  
Control Input ◽  
Koopman Operator ◽  
Estimation And Control ◽  
And Control ◽  
Theoretical Foundations

A common way to represent a system's dynamics is to specify how the state evolves in time. An alternative viewpoint is to specify how functions of the state evolve in time. This evolution of functions is governed by a linear operator called the Koopman operator, whose spectral properties reveal intrinsic features of a system. For instance, its eigenfunctions determine coordinates in which the dynamics evolve linearly. This review discusses the theoretical foundations of Koopman operator methods, as well as numerical methods developed over the past two decades to approximate the Koopman operator from data, for systems both with and without actuation. We pay special attention to ergodic systems, for which especially effective numerical methods are available. For nonlinear systems with an affine control input, the Koopman formalism leads naturally to systems that are bilinear in the state and the input, and this structure can be leveraged for the design of controllers and estimators. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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