Robust optimal nonlinear control strategies for an aerial manipulator

2020 ◽  
Author(s):  
Júnio E. de Morais ◽  
Daniel Neri ◽  
Guilherme V. Raffo
Keyword(s):  
Operating System ◽  
Nonlinear Control ◽  
Trajectory Tracking ◽  
Control Strategies ◽  
Hardware In The Loop ◽  
H Infinity ◽  
Robot Operating System ◽  
Advantages And Disadvantages ◽  
Aerial Manipulator

This work presents two control strategies based on a classic nonlinear H infinity controller and on a novel nonlinear W infinity controller for robust trajectory tracking of an unmanned aerial manipulator (UAM). The controllers are implemented in a hardware-in-the-loop (HIL) framework using the ProVANT simulator, which was developed on the Gazebo and Robot Operating System (ROS) platforms. In addition, the performance of these controllers is compared in order to highlight their advantages and disadvantages.

Hydraulic Emulation of Injection Moulding

2001 ◽  
Author(s):  
Paul K. Guerrier ◽  
Kevin A. Edge
Keyword(s):  
Injection Moulding ◽  
Controller Design ◽  
Control Strategies ◽  
Full Scale ◽  
Active Area ◽  
Hardware In The Loop ◽  
Moulding Process ◽  
Advantages And Disadvantages ◽  
Hydraulic Load ◽  
Loop Technique

Abstract The control of injection moulding is an active area for research. The inject phase of the moulding process which includes filling and packing is of particular importance. New control strategies have traditionally been evaluated either in simulation or through full scale testing. Both methods have advantages and disadvantages. This paper details the hydraulic load emulation of the filling and packing phases using the hardware-in-the-loop technique which is a compromise between these two methods. With suitable controller design successful load emulation is demonstrated.

Observer-based nonlinear control strategies for Hardware-in-the-Loop simulations of multiaxial suspension test rigs

Mechatronics ◽  
2018 ◽  
Vol 50 ◽  
pp. 212-224 ◽  
Author(s):  
Simon Olma ◽  
Andreas Kohlstedt ◽  
Phillip Traphöner ◽  
Karl-Peter Jäker ◽  
Ansgar Trächtler
Keyword(s):  
Nonlinear Control ◽  
Control Strategies ◽  
Hardware In The Loop ◽  
Suspension Test

scholarly journals LAMDA Controller Applied to the Trajectory Tracking of an Aerial Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 5885
Author(s):  
Gabriela M. Andaluz ◽  
Luis Morales ◽  
Paulo Leica ◽  
Víctor H. Andaluz ◽  
Guillermo Palacios-Navarro
Keyword(s):  
Trajectory Tracking ◽  
Inverse Dynamics ◽  
Sliding Mode ◽  
Learning Algorithm ◽  
Control Strategies ◽  
Experimental Tests ◽  
Aerial Manipulator ◽  
Control Objective ◽  
First Time ◽  
Manipulator Robot

In this work, a novel LAMDA (Learning Algorithm for Multivariable Data Analysis) control strategy for trajectory tracking for an aerial manipulator is presented. Four control strategies are developed: Kinematic, Inverse Dynamics, Sliding Mode (SMC), and LAMDA. These are compared with each other in order to verify their performance to fulfill the control objective. Experimental tests were also carried out to validate the developed controllers. In addition, a study of stability has been also performed for all the controllers. The results obtained by the LAMDA controller demonstrated the good performance of the controller in the aerial manipulator robot. To the best of our knowledge, this is the first time a LAMDA controller has been applied to an aerial robotic manipulator.

scholarly journals The Development of Mapping, Covering and Control Strategies for a Vacuum Cleaner Robot 

2020 ◽  
Vol 31 (1) ◽  
pp. 59-68
Keyword(s):  
Operating System ◽  
Real World ◽  
Control Strategies ◽  
New Technology ◽  
Control Algorithms ◽  
Infrared Sensor ◽  
Vacuum Cleaner ◽  
Robot Operating System ◽  
Single Pass ◽  
And Control

Modern households are becoming more and more convenient and intelligent by applying new technology to reduce the time spent on house chores. In this study, the authors proposed the mapping, covering strategies, and control algorithms for vacuum cleaner robot. The robot will automatically implement the cleaning task in a single pass. The sensor system includes infrared sensor, 9 Dof MPU 9250, Delta Lidar 2A, ultrasonic sensor to help robots navigate, build maps and detect obstacles. ROS system (Robot Operating System) is used to control and simulate vacuuming operation in real-world environments. The experiments are conducted in order to illustrate the superiority of the proposed approach.

scholarly journals On the Improvement of ROS-Based Control for Teleoperated Yaskawa Robots

2021 ◽  
Vol 11 (16) ◽  
pp. 7190
Author(s):  
Sana Baklouti ◽  
Guillaume Gallot ◽  
Julien Viaud ◽  
Kevin Subrin
Keyword(s):  
Operating System ◽  
Response Time ◽  
Open Source ◽  
Trajectory Tracking ◽  
Control Mode ◽  
Velocity Control ◽  
Control Loop ◽  
Tracking Errors ◽  
Robot Operating System ◽  
Robotic Teleoperation

This paper deals with Yaskawa robots controlling the Robot Operating System (ROS) for teleoperation tasks. The integration of an open-source ROS interface based on standard Motoman packages into control loop leads to large trajectory tracking errors and latency, which are unsuitable for robotic teleoperation. An improved version of the standard ROS-based control is proposed by adding a new velocity control mode into the standard Motoman ROS driver. These two approaches are compared in terms of response time and tracking delay. Investigations applied on the Yaskawa GP8 robot while using the proposed improved ROS-based control confirmed trajectory tracking and latency improvements, which can achieve 43% with respect to standard control.

scholarly journals Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System Environment

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 969
Author(s):  
Constantin-Catalin Dosoftei ◽  
Alexandru-Tudor Popovici ◽  
Petru-Razvan Sacaleanu ◽  
Paul-Marcelin Gherghel ◽  
Cristina Budaciu
Keyword(s):  
Operating System ◽  
Path Planning ◽  
Mobile Robot ◽  
Autonomous Navigation ◽  
Vertical Axis ◽  
Hardware In The Loop ◽  
Robot Operating System ◽  
System Nodes ◽  
Navigation Software ◽  
Time Autonomous

The symmetry of the omnidirectional robot motion abilities around its central vertical axis is an important advantage regarding its driveability for the flexible interoperation with fixed conveyor systems. The paper illustrates a Hardware in the Loop architectural approach for integrated development of an Ominidirectional Mobile Robot that is designed to serve in a dynamic logistic environment. Such logistic environments require complex algorithms for autonomous navigation between different warehouse locations, that can be efficiently developed using Robot Operating System nodes. Implementing path planning nodes benefits from using Matlab-Simulink, which provides a large selection of algorithms that are easily integrated and customized. The proposed solution is deployed for validation on a NVIDIA Jetson Nano, the embedded computer hosted locally on the robot, that runs the autonomous navigation software. The proposed solution permits the live connection to the omnidirectional prototype platform, allowing to deploy algorithms and acquire data for debugging the location, path planning and the mapping information during real time autonomous navigation experiments, very useful in validating different strategies.

F1_Tenth_Course_Report_Group_C

2018 ◽  
Author(s):  
Yi Chen ◽  
Sagar Manglani ◽  
Roberto Merco ◽  
Drew Bolduc
Keyword(s):  
Operating System ◽  
Autonomous Driving ◽  
Software Tools ◽  
Simulation Environment ◽  
Robot Operating System ◽  
Available Information

In this paper, we discuss several of major robot/vehicle platforms available and demonstrate the implementation of autonomous techniques on one such platform, the F1/10. Robot Operating System was chosen for its existing collection of software tools, libraries, and simulation environment. We build on the available information for the F1/10 vehicle and illustrate key tools that will help achieve properly functioning hardware. We provide methods to build algorithms and give examples of deploying these algorithms to complete autonomous driving tasks and build 2D maps using SLAM. Finally, we discuss the results of our findings and how they can be improved.

scholarly journals Power Hardware-in-the-Loop-Based Performance Analysis of Different Converter Controllers for Fast Active Power Regulation in Low-Inertia Power Systems

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3274
Author(s):  
Jose Rueda Torres ◽  
Zameer Ahmad ◽  
Nidarshan Veera Kumar ◽  
Elyas Rakhshani ◽  
Ebrahim Adabi ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Power Systems ◽  
Real Time ◽  
Control Strategies ◽  
Active Power ◽  
Power Electronic ◽  
Hardware In The Loop ◽  
Digital Controllers ◽  
Power Regulation ◽  
The Impact

Future electrical power systems will be dominated by power electronic converters, which are deployed for the integration of renewable power plants, responsive demand, and different types of storage systems. The stability of such systems will strongly depend on the control strategies attached to the converters. In this context, laboratory-scale setups are becoming the key tools for prototyping and evaluating the performance and robustness of different converter technologies and control strategies. The performance evaluation of control strategies for dynamic frequency support using fast active power regulation (FAPR) requires the urgent development of a suitable power hardware-in-the-loop (PHIL) setup. In this paper, the most prominent emerging types of FAPR are selected and studied: droop-based FAPR, droop derivative-based FAPR, and virtual synchronous power (VSP)-based FAPR. A novel setup for PHIL-based performance evaluation of these strategies is proposed. The setup combines the advanced modeling and simulation functions of a real-time digital simulation platform (RTDS), an external programmable unit to implement the studied FAPR control strategies as digital controllers, and actual hardware. The hardware setup consists of a grid emulator to recreate the dynamic response as seen from the interface bus of the grid side converter of a power electronic-interfaced device (e.g., type-IV wind turbines), and a mockup voltage source converter (VSC, i.e., a device under test (DUT)). The DUT is virtually interfaced to one high-voltage bus of the electromagnetic transient (EMT) representation of a variant of the IEEE 9 bus test system, which has been modified to consider an operating condition with 52% of the total supply provided by wind power generation. The selected and programmed FAPR strategies are applied to the DUT, with the ultimate goal of ascertaining its feasibility and effectiveness with respect to the pure software-based EMT representation performed in real time. Particularly, the time-varying response of the active power injection by each FAPR control strategy and the impact on the instantaneous frequency excursions occurring in the frequency containment periods are analyzed. The performed tests show the degree of improvements on both the rate-of-change-of-frequency (RoCoF) and the maximum frequency excursion (e.g., nadir).

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