scholarly journals Adaptive Coordinated Control Strategy of Multi Manipulator System based on Multi-Agent

2021 ◽  
Vol 15 ◽  
pp. 1159-1164
Author(s):  
Nianen Zhu ◽  
Jiang Han ◽  
Lian Xia ◽  
Hui Liu
Keyword(s):  
Control Strategy ◽  
Simulation Analysis ◽  
Coordinated Control ◽  
System Control ◽  
Matlab Simulation ◽  
Affine Systems ◽  
Distributed Adaptive Control ◽  
Multi Agent ◽  
Adaptive Control Strategy ◽  
Increasing Demand

With people's increasing awareness of life and the increasing complexity of exploration in unknown environment, a single robot can not meet the increasing demand, including the price, flexibility and efficiency of robots. As a common mechanical control system in industrial production instead of human production, multi manipulator system can be applied in complex environment, multi task and other conditions. In order to settle the coordinated control fault of multi manipulator system, we study adaptive coordinated control strategy with the help of multi-agent research method in this paper, which can simplify the complexity of the problem and design an efficient and feasible system control protocol. The complex items in the multi manipulator system are treated as non affine systems. Using the design idea of non affine algorithm, combined with implicit function theorem and median theorem, the non affine system is transformed into affine systems, the controller is separated, and a distributed adaptive control strategy is designed. The results indicate that manipulator systems can effectively track the active manipulator system in finite time and the significance of the algorithm is proven by MATLAB simulation analysis.

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.

Electric Power Steering Compensation Algorithm Research in Differential Braking Condition

2013 ◽  
Vol 336-338 ◽  
pp. 532-535
Author(s):  
Wei Rong Zhang ◽  
Chang Fu Zong ◽  
Guo Ying Chen ◽  
Shao Song Li
Keyword(s):  
Adverse Effects ◽  
Control Strategy ◽  
Coordinated Control ◽  
Compensation System ◽  
Driving Safety ◽  
System Control ◽  
Simulation Environment ◽  
Electric Power Steering ◽  
Compensation Control ◽  
Power Steering

EPS can improve many aspects including chassis coordinated control. Aimed at eliminating the adverse effects deriving from the controlled and uncontrollable differential braking condition, this paper analyzed the EPS-based compensation system control strategy. Coordinated control of EPS and differential braking ensures the vehicle driving safety and driving comfort purposes. Based on the above research, this paper verified the EPS compensation control strategy in simulation environment.

VSC-HVDC Control Strategy Research and Simulation Analysis

2014 ◽  
Vol 986-987 ◽  
pp. 1155-1158 ◽  
Author(s):  
Yang Hu ◽  
Hui Qi Li
Keyword(s):  
Steady State ◽  
Control Strategy ◽  
Pulse Width Modulation ◽  
Simulation Analysis ◽  
Experimental System ◽  
Control Program ◽  
Voltage Source ◽  
Voltage Source Converter ◽  
System Control ◽  
Steady State Simulation

With the development of high-power full-controlled power electronic devices based HVDC voltage source converter (VSC) and pulse width modulation (PWM) technology (VSC-H VDC) technology has become a reality. Currently VSC - HVDC technology in foreign countries in the theoretical study of the transition phase to the experimental system, while the domestic is just beginning, many of the basic theory and applications related to basic issues to be studied. In this paper, based on existing research, analyzes power VSC-HVDC system control strategy proposeddq0coordinates using a steady state model, and based on the model , designing the control program. Finally, to build a system using SIMULINK simulation model for a steady-state simulation analysis.

Distributed adaptive control strategy for flexible link manipulators

Robotica ◽  
2016 ◽  
Vol 35 (7) ◽  
pp. 1562-1584 ◽  
Author(s):  
Fareh Raouf ◽  
Saad Mohamad ◽  
Saad Maarouf ◽  
Bettayeb Maamar
Keyword(s):  
Control Strategy ◽  
Adaptive Controller ◽  
Joint Space ◽  
Flexible Link ◽  
Estimated Parameters ◽  
Distributed Adaptive Control ◽  
Gradient Based ◽  
Upper Level ◽  
Adaptive Control Strategy ◽  
Error Dynamics

SUMMARYThis paper presents an adaptive distributed control strategy for n-serial-flexible-link manipulators. The proposed adaptive controller is used for flexible-link-manipulators: (1) to solve the tracking control problem in the joint space, and (2) to reduce vibrations of the links. The dynamical model of flexible link manipulators is reorganized to take the form of n interconnected subsystems. Each subsystem has a one-joint and one-link pair. The system parameters are deemed to be unknown. The adaptive distributed strategy controls one subsystem in each step, starting from the last one. The nth subsystem is controlled by assuming that the remaining subsystems are stable. Then, proceeding backward to the (n-1)th system, the same strategy is applied, and so on, until the first subsystem is reached. The gradient-based estimator is used to estimate the parameters of each subsystem. The control law of the ith subsystem uses its own estimated parameters and the estimated parameters of all upper level subsystems. The global stability of the error dynamics is proved using Lyapunov approach. This algorithm was implemented in real time on a two-flexible-link manipulator, and a comparison with the non-adaptive version shows the effectiveness of this approach.

scholarly journals PMSM low voltage ride through based on Coordinated Control Strategy

2021 ◽  
Vol 248 ◽  
pp. 02005
Author(s):  
Zhang Zhaopeng ◽  
Suo Dongnan
Keyword(s):  
Wind Turbine ◽  
Permanent Magnet ◽  
Control Strategy ◽  
Reactive Power ◽  
Low Voltage ◽  
Short Circuit ◽  
Coordinated Control ◽  
System Control ◽  
Direct Drive ◽  
Grid Side

Based on the analysis of the operation characteristics of the fault of direct-drive permanent magnet wind turbine and the existing protection strategies, in order to improve the low-voltage operation capability of direct-drive permanent magnet wind turbine, a new coordinated control strategy for low-voltage crossing is proposed in this paper, which includes DC brake system control of unloading circuit, double second-order generalized integral phase-locked control, extracting positive and negative sequence of grid voltage and reactive power control on grid side. Based on the common three-phase symmetrical drop fault and asymmetrical fault caused by single grounding short circuit in power grid, PASCAD simulation experiment is conducted to verify the low voltage traversing ability of wind turbine.

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