Synchronization Control of Planar 2-Dof Robot with Redundant Actuation

2012 ◽  
Vol 468-471 ◽  
pp. 1414-1420 ◽  
Author(s):  
Jian Wei Mi ◽  
Hong Bao ◽  
Jing Li Du
Keyword(s):  
Control Strategy ◽  
Parallel Manipulator ◽  
Synchronization Control ◽  
Redundant Actuation ◽  
Model Errors ◽  
Position Measurement ◽  
Coupling Relationship ◽  
The Stability ◽  
Coupling Error ◽  
Synchronization Performance

Considering the special characteristics of the redundant parallel manipulator, with emphasis on the variable of structure, relatively small workspace and the strong coupling relationship among arms，a synchronization control strategy is presented in this paper. Since in the feedforward ,the inertial and the coriolis matrix are designed constant according to relatively small workspace, position measurement of the endeffector in plane is ignored. Synchronization error and coupling error are introduced to reject the model errors of inertial and coriolis matrix as stated above. Using the method, the errors of driving arms may be reduced, as well as synchronization performance among axes improves. The stability of the controllers was proved by Lyapunov. Finally, experimental results show the feasibility.

Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel Manipulator

2013 ◽  
Author(s):  
Evangelos Emmanouil ◽  
Ketao Zhang ◽  
Jian S. Dai
Keyword(s):  
Phase Change ◽  
Trajectory Planning ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
Redundant Actuation ◽  
Planning Algorithm ◽  
Source Phase

Mechanisms with reconfigurability have become a trend in development of multi-functional robots which can adapt to unexpected environments and perform complicated tasks. This paper presents a novel metamorphic parallel manipulator with the ability to change its mobility through the phase change of a variable-axis (vA) joint integrated in each limb. The platform has 6 DOFs in the source phase and can reconfigure its mobility to 5, 4 and 3 resorting to redundant actuation. This leads to reconfigurability and multi-functionality of the parallel manipulator characterized by the mobility configuration variation. A control strategy and a trajectory planning algorithm for reconfiguring the mobility configuration of the manipulator are proposed and simulations are carried out to identify a proper way of reconfiguration.

Anti-Synchronization Control of the Complex Lu System

2014 ◽  
Vol 721 ◽  
pp. 269-272
Author(s):  
Fan Di Zhang
Keyword(s):  
Complex System ◽  
Fractional Order ◽  
Control Strategy ◽  
Stability Theorem ◽  
Projective Synchronization ◽  
Synchronization Control ◽  
Fractional Order Systems ◽  
Lü System ◽  
The Stability ◽  
Lu System

This paper propose fractional-order Lu complex system. Moreover, projective synchronization control of the fractional-order hyper-chaotic complex Lu system is studied based on feedback technique and the stability theorem of fractional-order systems, the scheme of anti-synchronization for the fractional-order hyper-chaotic complex Lu system is presented. Numerical simulations on examples are presented to show the effectiveness of the proposed control strategy.

scholarly journals Synchronization Control of Large Crawler Crane Driven by Double Winches Using Hook Angle Feedback Information

2015 ◽  
Vol 9 (1) ◽  
pp. 977-981
Author(s):  
Jun Yao ◽  
Yu Tang ◽  
Zhencai Zhu
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Synchronization Control ◽  
Small Range ◽  
Variable Speed ◽  
Angle Sensor ◽  
Feedback Information ◽  
Control Scheme ◽  
Crawler Crane ◽  
Synchronization Performance

During the operation of a crawler crane driven by double winches, it is important to make the two winches actuate synchronously so that the hook is in a horizontal state to prevent accidents. In this paper, a novel synchronization control strategy for crawler crane driven by double winches using hook angle feedback information is proposed. The hook angle proportional to the length error of ropes is measured by a wireless angle sensor firstly and is then employed as a feedback control signal. To further improve the synchronization performance, cross-coupled control scheme together with the variable speed PID control is utilized on the basis of the collected hook angle signal. Simulations and experiments are then conducted and the results demonstrate that the proposed control scheme can obtain a better synchronization performance than the conventional control strategy using encoders and the inclination of the hook is greatly reduced to a limited small range.

scholarly journals Iterative Learning Tracking Control of a Hybrid-Driven Based Three-Cable Parallel Manipulator

2014 ◽  
Vol 6 ◽  
pp. 248385 ◽  
Author(s):  
Bin Zi ◽  
Jianbin Cao ◽  
Sen Qian
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Iterative Learning Control ◽  
Parallel Manipulator ◽  
Iterative Learning ◽  
Time Varying ◽  
Lagrange Method ◽  
Adaptive Iterative Learning Control ◽  
Unknown Disturbances ◽  
The Stability

The aim of this work was to present iterative learning tracking control of a hybrid-driven based three-cable parallel manipulator (HDCPM). The HDCPM has the advantages of both cable parallel manipulator and hybrid-driven planar five-bar mechanism. Design of the HDCPM is described and dynamic model is developed on the basis of Lagrange method. Consider the HDCPM system with nonlinear, time-varying characteristics and repetitive unknown disturbances; an adaptive iterative learning control strategy, which can control gains change with the iterations, is designed. By means of Lyapunov function, the stability of the controller is proved. Finally, simulation results indicate that a perfect trajectory tracking of the HDCPM is achieved by the adaptive iterative learning controller, which also illustrate the correctness of the dynamic modeling and effectiveness of the proposed control strategy.

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021 ◽  
pp. 1-31
Author(s):  
S.H. Derrouaoui ◽  
Y. Bouzid ◽  
M. Guiatni
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Experimental Tests ◽  
Generic Model ◽  
System Control ◽  
System A ◽  
Viable Solution ◽  
Generic Modeling ◽  
Adaptive Control Strategy ◽  
The Stability

Abstract Recently, transformable Unmanned Aerial Vehicles (UAVs) have become a subject of great interest in the field of flying systems, due to their maneuverability, agility and morphological capacities. They can be used for specific missions and in more congested spaces. Moreover, this novel class of UAVs is considered as a viable solution for providing flying robots with specific and versatile functionalities. In this paper, we propose (i) a new design of a transformable quadrotor with (ii) generic modeling and (iii) adaptive control strategy. The proposed UAV is able to change its flight configuration by rotating its four arms independently around a central body, thanks to its adaptive geometry. To simplify and lighten the prototype, a simple mechanism with a light mechanical structure is proposed. Since the Center of Gravity (CoG) of the UAV moves according to the desired morphology of the system, a variation of the inertia and the allocation matrix occurs instantly. These dynamics parameters play an important role in the system control and its stability, representing a key difference compared with the classic quadrotor. Thus, a new generic model is developed, taking into account all these variations together with aerodynamic effects. To validate this model and ensure the stability of the designed UAV, an adaptive backstepping control strategy based on the change in the flight configuration is applied. MATLAB simulations are provided to evaluate and illustrate the performance and efficiency of the proposed controller. Finally, some experimental tests are presented.

scholarly journals A Unified Control Strategy of Distributed Generation for Grid-Connected and Islanded Operation Conditions Using an Artificial Neural Network

2021 ◽  
Vol 13 (11) ◽  
pp. 6388
Author(s):  
Karim M. El-Sharawy ◽  
Hatem Y. Diab ◽  
Mahmoud O. Abdelsalam ◽  
Mostafa I. Marei
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Control System ◽  
Distributed Generation ◽  
Control Strategy ◽  
Current Control ◽  
Operating Conditions ◽  
Pi Controllers ◽  
Artificial Neural ◽  
The Stability

This article presents a control strategy that enables both islanded and grid-tied operations of a three-phase inverter in distributed generation. This distributed generation (DG) is based on a dramatically evolved direct current (DC) source. A unified control strategy is introduced to operate the interface in either the isolated or grid-connected modes. The proposed control system is based on the instantaneous tracking of the active power flow in order to achieve current control in the grid-connected mode and retain the stability of the frequency using phase-locked loop (PLL) circuits at the point of common coupling (PCC), in addition to managing the reactive power supplied to the grid. On the other side, the proposed control system is also based on the instantaneous tracking of the voltage to achieve the voltage control in the standalone mode and retain the stability of the frequency by using another circuit including a special equation (wt = 2πft, f = 50 Hz). This utilization provides the ability to obtain voltage stability across the critical load. One benefit of the proposed control strategy is that the design of the controller remains unconverted for other operating conditions. The simulation results are added to evaluate the performance of the proposed control technology using a different method; the first method used basic proportional integration (PI) controllers, and the second method used adaptive proportional integration (PI) controllers, i.e., an Artificial Neural Network (ANN).

Time-Optimal Coordination Control for the Gear-Shifting Process in Electric-Driven Mechanical Transmission (Dog Clutch) without Impacts

2020 ◽  
Vol 9 (2) ◽  
pp. 155-168
Author(s):  
Ziwang Lu ◽  
◽  
Guangyu Tian ◽  
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Method ◽  
Synchronization Control ◽  
Mechanical Transmission ◽  
Coordination Control ◽  
Optimal Position ◽  
Drive Motor ◽  
Time Optimal ◽  
Optimal Coordination

Torque interruption and shift jerk are the two main issues that occur during the gear-shifting process of electric-driven mechanical transmission. Herein, a time-optimal coordination control strategy between the the drive motor and the shift motor is proposed to eliminate the impacts between the sleeve and the gear ring. To determine the optimal control law, first, a gear-shifting dynamic model is constructed to capture the drive motor and shift motor dynamics. Next, the time-optimal dual synchronization control for the drive motor and the time-optimal position control for the shift motor are designed. Moreover, a switched control for the shift motor between a bang-off-bang control and a receding horizon control (RHC) law is derived to match the time-optimal dual synchronization control strategy of the drive motor. Finally, two case studies are conducted to validate the bang-off-bang control and RHC. In addition, the method to obtain the appropriate parameters of the drive motor and shift motor is analyzed according to the coordination control method.

Sign in / Sign up

Export Citation Format

Share Document