Integrated Fixed Time Sliding Mode Control for Motion and Vibration of Space Robot with Fully Flexible Base–Link–Joint

The dynamic modeling, motion control and flexible vibration active suppression of space robot under the influence of flexible base, flexible link and flexible joint are explored, and motion and vibration integrated fixed-time sliding mode control of fully flexible system is designed. The flexibility of the base and joints are equivalent to the vibration effect of linear springs and torsion springs. The flexible links are regarded as Euler–Bernoulli simply supported beams, which are analyzed by the hypothetical mode method, and the dynamic model of the fully flexible space robot is established by using the Lagrange equation. Then, the singular perturbation theory is used to decompose the model into slow subsystem including rigid motion and the link flexible vibrations, and fast subsystems including the base and the joint flexible vibrations. A fixed time sliding mode control based on hybrid trajectory is designed for the slow subsystem to ensure that the base and joints track the desired trajectory in a limited time while achieving vibration suppression on the flexible links. For the fast subsystem, linear quadratic optimal control is used to suppress the flexible vibration of the base and joints. The simulation results show that the controller proposed in the paper can make the system state converge within a fixed time, is robust to model uncertainty and external interference, and can effectively suppress the flexible vibration of the base, links, and joints.

Chaos in the Rulkov Neuron Model Based on Marotto’s Theorem

The existence of chaos in the Rulkov neuron model is proved based on Marotto’s theorem. Firstly, the stability conditions of the model are briefly renewed through analyzing the eigenvalues of the model, which are very important preconditions for the existence of a snap-back repeller. Secondly, the Rulkov neuron model is decomposed to a one-dimensional fast subsystem and a one-dimensional slow subsystem by the fast–slow dynamics technique, in which the fast subsystem has sensitive dependence on the initial conditions and its snap-back repeller and chaos can be verified by numerical methods, such as waveforms, Lyapunov exponents, and bifurcation diagrams. Thirdly, for the two-dimensional Rulkov neuron model, it is proved that there exists a snap-back repeller under two iterations by illustrating the existence of an intersection of three surfaces, which pave a new way to identify the existence of a snap-back repeller.

Rearrangement of Energy Levels Between Energy Super-Bands Characterized by Second Chern Class

We generalize the dynamical analog of the Berry geometric phase setup to the quaternionic model of Avron et al. In our dynamical quaternionic system, the fast half-integer spin subsystem interacts with a slow two-degrees-of-freedom subsystem. The model is invariant under the 1:1:2 weighted SO(2) symmetry and spin inversion. There is one formal control parameter in addition to four dynamical variables of the slow subsystem. We demonstrate that the most elementary qualitative phenomenon associated with the rearrangement of the energy super-bands of our model consists of the rearrangement of one energy level between two energy superbands which takes place when the formal control parameter takes the special isolated value associated with the conical degeneracy of the semi-quantum eigenvalues. This qualitative phenomenon is of the topological origin, and is characterized by the second Chern class of the associated semi-quantum system. The correspondence between the number of redistributed energy levels and the second Chern number is confirmed through a series of examples.

Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control

The motion control of a surface ship based on a four degrees of freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering motion model is studied in this paper. A time-scale decomposition method is introduced to solve the path-following problem, implementing Rudder Roll Stabilization (RRS) at the same time. The control objectives are to let the ship to track a predefined curve path under environmental disturbances, and to reduce the roll motion at the same time. A singular perturbation method is used to decouple the whole system into two subsystems of different time scales: the slow path-following subsystem and the fast roll reduction subsystem. The coupling effect of the two subsystems is also considered in this framework of analysis. RRS control is only possible when there is the so-called bandwidth separation characteristic in the ship motion system, which requires a large bandwidth separation gap between the two subsystems. To avoid the slow subsystem being affected by the wave disturbances of high frequency and large system uncertainties, the adaptive control is introduced in the slow subsystem, while a Proportion-Differentiation (PD) control law is adopted in the fast roll reduction subsystem. Simulation results show the effectiveness and robustness of the proposed control strategy.

Multi-Rate Real-Time Simulation Method Based on the Norton Equivalent

For the problem of poor accuracy of the existing multi-rate simulation methods, this paper proposes a multi-rate real-time simulation method based on the Norton equivalent, compared with multi-rate simulation method based on the ideal source equivalent. After the Norton equivalence of the fast subsystem and the slow subsystem are established, they are solved simultaneously at the junction nodes. In order to reduce the amount of the simulation calculation, the Norton equivalent circuit is obtained by incremental calculation. The data interaction between the fast subsystem and the slow subsystem is realized by extrapolation method. For ensuring the real-time performance of the simulation, the method of the slow subsystem calculates ahead of the fast subsystem is given for the slow subsystem with a large amount of calculation. Finally, the AC/DC hybrid power system was simulated on the real-time simulation platform (FPGA-based Real-Time Digital Solver, FRTDS), and the simulation results were compared with the single-rate simulation, which verified the correctness and accuracy of the proposed method.

Multi-Rate Real-Time Simulation Method Based on the Norton Equivalent

For the problem of poor accuracy of the existing multi-rate simulation methods, this paper proposes a multi rate real-time simulation method based on the Norton equivalent, compared with multi-rate simulation method based on the ideal source equivalent. After the Norton equivalence of the fast subsystem and the slow subsystem, they are obtained simultaneously at the junction nodes. In order to reduce the amount of simulation calculation, the Norton equivalent circuit is obtained by incremental calculation. The data interface between the fast subsystem and the slow subsystem is realized by extrapolation method. For ensuring the real-time performance of the simulation, the method that the slow subsystem calculates ahead of the fast subsystem is given for the slow subsystem with a large amount of calculation. Finally, the AC/DC hybrid power system was simulated on the real-time simulation platform (FRTDS), and the simulation results were compared with the single-rate simulation, which verified the correctness and accuracy of the method.

Fast–slow vector fields of reaction–diffusion systems

A geometrically invariant concept of fast–slow vector fields perturbed by transport terms describing molecular diffusion is proposed in this paper. It is an extension of our concept of singularly perturbed vector fields for ODEs to reaction–diffusion systems with chemical reactions having wide range of characteristic time scales, while transport processes remain comparatively slow. Under this assumption we developed a decomposition into a fast and slow subsystems. It is assumed that the transport terms for the fast subsystem can be neglected to the leading order. For the slow subsystem we modify a concept of singularly perturbed profiles proposed in our previous works. The results are used to justify and to modify an algorithm of reaction–diffusion manifolds (REDIMs). The modified REDIM method is applied to the Michaelis–Menten model to illustrate the suggested approach.

Robust adaptive output feedback tracking control for flexible-joint robot manipulators based on singularly perturbed decoupling

SUMMARYThis paper presents a robust adaptive output feedback tracking controller for the flexible-joint robot manipulators to deal with the unknown upper bounds of parameter uncertainties and external disturbances. With applying the singular perturbation theory and integral manifold concept, the complex nonlinear coupled system of the flexible-joint robot manipulators is divided into a slow subsystem and a fast subsystem. A robust adaptive control scheme based on an improved linear parameterization expression is designed for the slow subsystem, and a saturation function is applied in the robust control term to make the torque output smooth. In the meantime, different from the previous approaches, the second-order derivative term of elastic torque is avoided by using the proposed computed torque method, which simplifies the implementation of the fast control law. Moreover, to carry out the whole control system with only position measurements, an approximate differential filter is involved to generate pseudo velocity signals for links and joint motors. In addition, an explicit but strict stability proof of the control system based on the theory of singularly perturbed systems is presented. Finally, simulation results verify the superior dynamic performance of the proposed controller.

DECOMPOSITION OF MULTIRATE DYNAMIC SYSTEMS WITH SMALL DISSIPATION

We consider singularly perturbed differential systems which describe the dynamics of manipulator with flexible joints in conditions of small dissipation. The existence of decoupling transformation which converts original multirate system to "block triangular" form with independent slow subsystem. Decoupling transformation is constructed as asymptotic series.

Observer-based two-time scale robust control of free-flying flexible-joint space manipulators with external disturbances

SUMMARYObserver-based two-time scale robust control is proposed for free-flying flexible-joint space manipulators with unknown payload parameters and bounded disturbances. The dynamic equations of a free-flying space manipulator with two flexible revolute joints were derived by the momentum conservation law and the Lagrange equations. A flexibility compensator was introduced to make the equivalent joint stiffness large enough, which made traditional singular perturbation approach applicable. Then, a singular perturbation model was formulated and a reduced-order controller is proposed. This controller consisted of a slow sub-controller and a fast flexible-joint sub-controller. To the slow subsystem, a sliding observer based robust slow sub-controller was proposed. By optimal linear quadratic regulator method, the fast sub-controller was designed with the estimated velocity by linear observer. This fast sub-controller could stabilize the fast subsystem around the equilibrium trajectory created by the slow subsystem under the effect of the slow control. Finally the numerical simulations were carried out, which showed that elastic joint vibrations had been stabilized effectively and good tracking performances had been achieved.